УСТРОЙСТВО ДЛЯ РУЛЕВОГО УПРАВЛЕНИЯ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к устройству для рулевого управления. Устройство содержит первое вычислительное устройство, второе вычислительное устройство, получающее устройство, устройство приложения усилия в рулевом управлении. Первое вычислительное устройство вычисляет основное вспомогательное усилие в рулевом управлении. Второе вычислительное устройство вычисляет первое и второе корректирующие усилия в рулевом управлении. Получающее устройство обеспечивает получение поперечной силы на каждом из передних колес и задних колес. Устройство приложения усилия обеспечивает приложение целевого вспомогательного усилия в рулевом управлении. Целевое вспомогательное усилие получено добавлением первого корректирующего усилия в рулевом управлении и второго корректирующего усилия в рулевом управлении к основному вспомогательному усилию в рулевом управлении. Технический результат заключается в повышении стабилизации транспортного средства. 7 з.п. ф-лы, 10 ил.

УСТРОЙСТВО УСИЛИТЕЛЯ РУЛЕВОГО УПРАВЛЕНИЯ

Изобретение относится к устройству усилителя рулевого управления. Устройство усилителя рулевого управления содержит механизм рулевого управления, который рулит управляемыми колесами в соответствии с операцией руления руля, электромотор, который предоставляет силу поворота при рулении для механизма рулевого управления, трансмиссионный механизм, который передает силу вращения электромотора в механизм рулевого управления, датчик крутящего момента, который определяет крутящий момент поворота при рулении, сформированный в механизме рулевого управления, и модуль управления. Модуль управления вычисляет командный ток электромотора, управляющий с возможностью приведения в действие электромотором на основе крутящего момента поворота при рулении, и выводит командный ток электромотора в электромотор. Модуль управления получает сигналы, связанные с нагрузкой по рулению во время операции руления в течение предварительно определенного интервала времени, и обнаруживает анормальность упомянутого устройства ...

УСТРОЙСТВО РУЛЕВОГО УПРАВЛЕНИЯ И СПОСОБ РУЛЕВОГО УПРАВЛЕНИЯ

Группа изобретений относится к устройству и способу рулевого управления транспортным средством, включающим в себя функцию сокращения холостого хода для остановки холостого хода двигателя 91 и повторного запуска двигателя 91, когда транспортное средство начинает движение. Когда двигатель 91 находится в рабочем состоянии, муфта расцепляется, и управление приведением в действие поворотного исполнительного механизма выполняется, а когда двигатель 91 находится в остановленном состоянии, муфта вводится в зацепление, и управление приведением в действие поворотного исполнительного механизма прекращается. Разъединенное состояние муфты поддерживается, когда работа двигателя 91 на холостом ходу прекращается посредством функции сокращения холостого хода. Обеспечивается способствование большей тишине во внутреннем пространстве транспортного средства в режиме сокращения холостого хода. 2 н. и 7 з.п. ф-лы, 10 ил.

ОБЪЕДИНЕНИЕ АВТОМАТИЧЕСКОГО ПУСКА-ОСТАНОВА И АКТИВНОГО РУЛЕВОГО УПРАВЛЕНИЯ

Verfahren und Vorrichtung zum Betrieb einer elektromotorischen Servolenkung

A method of regulating a power-assisted steering system applies to a system with a servomotor (112), a transmission between the servomotor and either the vehicle steering column or a drive output leading to the steering box or rack, and a clutch cheek which produces a driving connection between the servomotor and the steering column when, on manual application of torque to the steering wheel, an entraining member connected with the steering column produces the required clutch contact pressure. The rotational speed of the servomotor is selected in dependence on at least one of the magnitudes of vehicle speed (Vf), steering torque (Imot), engaged gear of the vehicle transmission (G), operational state of the vehicle engine and operational state of the power-assisted steering (T). ...

Elektrische Lenkhilfsvorrichtung

Elektrische Lenkhilfsvorrichtung (100) für die Steuerung/Regelung eines Elektromotors (11) in Abhängigkeit von einem Lenkmoment, das auf ein Lenkelement (2) aufgebracht wird, und zur Übertragung von Antriebskraft, die von dem Elektromotor (11) erzeugt wird, auf einen Lenkmechanismus, um bei einer Bedienung des Lenkelements (2) zu unterstützen, umfassend:einen Lenkmomentsensor (30) zur Erfassung des Lenkmoments, einen Phasenkompensator (62) zum Durchführen einer Phasenkompensation mit einem Drehmomentsignal (VT3), das aus dem Lenkmomentsensor (30) ausgegeben wird, undeinem Hilfsstrombestimmer (50A, 50B) zum Bestimmen eines Hilfsstroms (Ia, Itar), der zu dem Elektromotor (11) fließt, auf Basis des Drehmomentsignals (VT3), das von dem Phasenkompensator (62) phasenkompensiert wurde, wobei der Phasenkompensator (62) eine größere Phasenverzögerungskompensation mit dem Drehmomentsignal (VT3), das aus dem Lenkmomentsensor (30) ausgegeben wird, durchführt, wenn der Hilfsstrom (Ia, Itar) größer wird ...

Vorrichtung und Verfahren zur Erzeugung eines Lenkradreaktionsdrehmoments in einem SBW-System

Vorrichtung und Verfahren zur Erzeugung eines Lenkradreaktionsdrehmoments. Ein Lenkradreaktionsdrehmoment wird in einem SBW-System so erzeugt, das es dazu fähig ist, ungeachtet eines Lenkwinkels oder einer Zahnstangenkraft eine konstante Hysterese aufrechtzuerhalten. Die Vorrichtung zur Erzeugung eines Lenkradreaktionsdrehmoments in einem SBW-System für ein Fahrzeug beinhaltet: eine Versatz-Bestimmungseinheit, die einen Versatz auf der Grundlage von Eingangsfaktoren bestimmt; eine Sollreaktionsdrehmoment-Bestimmungseinheit, die ein Sollreaktionsdrehmoment auf der Grundlage der Eingangsfaktoren und des Versatzes bestimmt; und eine Reaktionsdrehmoment-Erzeugungseinheit, die ein Lenkradreaktionsdrehmoment auf der Grundlage des bestimmten Sollreaktionsdrehmoments bestimmt.

Aktive Anti-Klappengeräusch-Regelung

Die Erfindung betrifft eine elektromechanische Kraftfahrzeuglenkung (1) mit einem mit einer unteren Lenkwelle (4) verbundenen Lenkritzel (5), welches mit einer in einem Gehäuse entlang einer Längsachse verschieblich gelagerten Zahnstange (6) zur Lenkung von Rädern (8) in Eingriff steht, mit einem einen Rotor aufweisenden Elektromotor (9) zur Lenkkraftunterstützung, der mittels eines Getriebes die untere Lenkwelle (4) antreibt, mit einem Drehmomentsensor (11), der zwischen einer oberen mit dem Lenkrad verbunden Lenkwelle (3) und der unteren Lenkwelle (4) angeordnet ist und ein vom Fahrer aufgebrachtes Lenkdrehmoment (TTS) und ein von der unteren Lenkwelle (4) auf die obere Lenkwelle (3) rückwirkendes Drehmoment (TSTR) erfasst, und mit einer Steuereinrichtung (14), die eine Lenkungssteuerung (12) und eine Motorregelung (13) des Elektromotors (9) umfasst, wobei die Lenkungssteuerung (12) ein Motor-Soll-Drehmoment (TD) berechnet und dies an die Motorregelung (13) weitergibt, wobei die Motorregelung ...

Nutzfahrzeuglenkung

LENKVORRICHTUNG FÜR EIN FAHRZEUG

Gemäß den vorliegenden Ausführungsbeispielen wird ein auf einen Torsionsstab aufgebrachtes Drehmoment verringert, um so die Steifigkeit des Torsionsstabs relativ zu erhöhen, wodurch das Ansprechverhalten auf eine Lenkradbetätigung des Fahrers verbessert wird, ein ansprechbarer Drehmomentbereich vergrößert wird, die Haltbarkeit von Komponenten wie dem Torsionsstab sichergestellt wird und die Einstellung des Bewegungswegs einer Zahnstange im Vergleich zur Anzahl der Umdrehungen des Lenkrads vereinfacht wird.

Electric-motor assisted power-steering control mechanism for motor vehicle

The control calculates a motor current nominal value in accordance with a rotational steering force which is produced in a steering shaft, for controlling a motor current in accordance with the calculated instruction value, and delivers a steering support force to a steering mechanism, which corresponds to the detected steering force. The control mechanism includes a calculation arrangement for estimating an angular velocity of the motor according to an estimated value of an electro-motoric, counteracting force which is produced in the motor. A motor current detection arrangement detects a current which flows through the motor, and a control arrangement controls the motor current in accordance with the calculated nominal value and the estimated angular velocity. A dead control zone has a predetermined width which is determined from the estimated angular velocity in accordance with a detected motor current or the nominal value. The output of the estimated angular velocity becomes zero if ...

Steuerung einer elektrischen Servolenkung unter Verwendung von Systemzustandsvorhersagen

Eine Ausführungsform eines Verfahrens zum Steuern einer oder mehrerer Komponenten eines Fahrzeugs umfasst, dass ein Referenzlenkungsbefehl und ein oder mehrere Messsignale, die ein Lenkungssystems eines Fahrzeugs betreffen, empfangen werden und dass von einer Verarbeitungsvorrichtung ein Zustand des Lenkungssystems auf der Grundlage des einen oder der mehreren Messsignale geschätzt wird, wobei das Lenkungssystem zumindest ein Lenkrad und einen Lenkungsmotor enthält. Das Verfahren umfasst außerdem, ein maximaler Zustand bestimmt wird, der von dem Lenkungssystem bei einem oder mehreren Zeitpunkten im Anschluss an das Empfangen des einen oder der mehreren Messsignale erreicht werden kann, und dass das Lenkungssystem von einem Steuerungsmodul auf der Grundlage des Referenzlenkungsbefehls und des maximalen Zustands gesteuert wird.

Elektrische Servolenkvorrichtung

In einer elektrischen Servolenkvorrichtung (10), die einen Hilfsmotor (30) so steuert, dass sich ein Einschlagwinkel (θc) von eingeschlagenen Rädern (44L und 44R) einem Solleinschlagwinkel (θtgt) passend zum Lenkmoment basierend auf der Betätigung eines Lenkrads (20) durch ein Fahrer nähert, wird ein reines Lenkmoment (Th) berechnet, indem ein von einem Drehmomentsensor (21) erfasstes Erfassungslenkmoment (Ts) basierend auf einem von einem Lenkwinkelsensor (21s) erfassten Lenkwinkel (θh) korrigiert wird, und ein Solleinschlagwinkel wird auf Basis dieses reinen Lenkmoments eingestellt. Dadurch wird ein Einfluss des Trägheitsmoments und der viskosen Reibung eines Bestandteils auf einer dem Lenkrad zugewandten Seite des Drehmomentsensors in einem Lenkmechanismus (40) etc. eliminiert und ein korrekter Solleinschlagwinkel wird eingestellt. Infolgedessen kann der Drehwinkel genau zur Betätigung des Lenkrads durch den Fahrer passen, um eine gute Fahrbarkeit zu erreichen.

Verfahren zur Steuerung eines motorangetriebenen Servolenksystems

Es wird ein Verfahren zur Steuerung eines durch Motor angetriebenen Servolenksystems offenbart. Das Verfahren umfasst die Ermittlung eines Fahrens mit Halten des Endanschlags mittels einer Steuerungseinheit, Einschalten/Ausschalten eines Dämpfungsanhebungsverstärkungsanwendungsmodus entsprechend einem Ergebnis der Ermittlung für das Fahren mit Halten des Endanschlags mittels der Steuerungseinheit, Multiplizieren eines Ausgangsleistungswertes entsprechend dem Einschalten/Ausschalten des Dämpfungsanhebungsverstärkungsanwendungsmodus mit einem Ausgangsleistungswert aus der Dämpfungsausgangsleistungswerterfassungseinheit, und Ausgeben des multiplizierten Wertes als einen Dämpfungskorrekturwert durch die Steuerungseinheit und Verwenden des Dämpfungskorrekturwertes zur Steuerung eines Ausgangsmoments des Motors in einem Zahnstangenendanschlagssteuerungsbereich durch die Steuerungseinheit.

RESYNCHRONISIERUNG VON HANDRAD UND STRASSENRAD IN STEER-BY-WIRE-SYSTEMEN

Gemäß einer oder mehreren Ausführungsformen umfasst ein Steer-by-Wire-Lenksystem ein Handradstellglied, ein Straßenradstellglied und ein Resynchronisationsmodul zur dynamischen Anpassung einer Handradposition, die zur Berechnung einer Zahnstangenpositionsreferenz verwendet wird. Die dynamische Anpassung umfasst das Bestimmen eines Desynchronisationsbetrags auf der Grundlage einer Differenz zwischen einer tatsächlichen Handradposition und einer synchronisierten Handradposition. Die dynamische Anpassung umfasst ferner die Berechnung einer Handradanpassung unter Verwendung des Desynchronisationsbetrags, einer Fahrzeuggeschwindigkeit und einer Handradgeschwindigkeit. Die dynamische Anpassung umfasst ferner die Berechnung einer angepassten Handradposition auf der Grundlage der Handradanpassung und der tatsächlichen Handradposition. Die dynamische Anpassung umfasst ferner das Aktualisierender Referenz-Zahnstangenposition auf der Grundlage der angepassten Handradposition. Die dynamische Anpassung ...

METHOD OF OPERATING ELECTRIC POWER ASSISTED STEERING SYSTEMS AND ELECTRIC POWER ASSISTED STEERING SYSTEM

SERVOLENKUNGSEINRICHTUNG.

MOTORSTEUERUNGSVORRICHTUNG, MOTORANTRIEBSSYSTEM UND MOTORSTEUERUNGSVERFAHREN

Nach einem Starten von Mikrocomputern (401, 402) überträgt ein Bereit-Signalsender (622) eines zweiten Mikrocomputers (402), der ein „Synchronisationssignal-Empfänger-Mikrocomputer“ ist, ein Bereit-Signal, das die Beendigung einer Synchronisationsvorbereitung des Mikrocomputers angibt, an einen ersten Mikrocomputer (401), der ein „Synchronisationssignal-Übertragungs-Mikrocomputer“ ist. Ein Bereit-Signalempfänger (621) des ersten Mikrocomputers (401) empfängt das Bereit-Signal. Ein Handshake-Bestimmer (611, 612) der Mikrocomputer (401, 402) bestimmt auf eine normale Ausführung eines Handshakes hin, der mindestens ein Übertragen und Empfangen des Bereit-Signals enthält, einen Erfolg des Handshakes. Wenn der Handshake als erfolgreich bestimmt wird, treiben die Mikrocomputer (401, 402) einen Motor (80) anfänglich nach einem Booten synchron an.

Verwendung eines Unterstützungsmotors eines Servolenkungssystems zum Erzeugen von Testzyklen gemäß einem Krafterfassungszyklus

Die Erfindung betrifft ein Verfahren zur Charakterisierung eines Servolenkungssystems (1) zur empirischen Ermittlung zumindest einer Eigenschaft des Systems (1), wobei das Servolenkungssystem zumindest ein Lenkrad (2), einen Lenkmechanismus (3), der mit einer Zahnstange (4) versehen ist, und zumindest einen Unterstützungsmotor (7) umfasst, wobei das Verfahren, außerhalb einer Lenkphase, während der das Servolenkungssystem (1) dem Fahren eines Fahrzeugs gewidmet ist, um das Fahrzeug einer Kurve folgen zu lassen, die als Funktion der Situation des Fahrzeugs in Bezug auf dessen Umgebung ermittelt wird, einen Schritt (a) des automatischen Aktivierens des Unterstützungsmotors (7) umfasst, in dem ein Computer (13) zum Erzeugen und Anwenden einer Aktivierungsanweisung am Unterstützungsmotors (7) verwendet wird, ohne dass externe Maßnahmen am Lenkrad (2) erforderlich sind, die einem oder mehreren Zyklen, die als vorab festgelegte Explorationszyklen (CY) bezeichnet werden, zum Messen, während des ...

Verwendung eines Hilfsmotors eines Servolenkungssystems zum Erzeugen von Testzyklen gemäß einem Geschwindigkeitsbestimmungszyklus

Die Erfindung bezieht sich auf ein Verfahren zum Kennzeichnen eines Servolenkungssystems (1) zum empirischen Bestimmen von zumindest einer Eigenschaft des Systems (1), wobei das Servolenkungssystem zumindest ein Lenkrad (2), einen Lenkmechanismus (3), der mit einer Zahnstange (4) versehen ist, und zumindest einen Servomotor (7) aufweist, wobei das Verfahren außerhalb einer Lenkphase, während der das Servolenkungssystem (1) dem Antreiben eines Fahrzeugs zugeordnet ist, um zu bewirken, dass das Fahrzeug einer Bewegungsbahn folgt, die als eine Funktion der Situation des Fahrzeugs in Bezug auf seine Umgebung bestimmt wird, einen Schritt (a) einer automatischen Aktivierung des Servomotors (7) aufweist, während der ein Computer (3) verwendet wird, um eine Aktivierungsanweisung, die einem oder mehreren Zyklen folgt, die als vorab festgelegte Prüfzyklen (CY) bezeichnet werden, automatisch zu erzeugen und für den Servomotor (7) zu verwenden, ohne dass eine externe Maßnahme am Lenkrad (2) erforderlich ...

Servolenkvorrichtung

Eine Servolenkvorrichtung umfasst: eine Lenklast-Mittelwert-Berechnungsschaltung 39, die einen Lenkdrehmoment-Mittelwert Trav berechnet, der der Mittelwert des Lenkdrehmoments Tr innerhalb eines vorbestimmten Zeitintervalls ist; und eine Anomalitätsdetektionsschaltung 40, die den Lenkdrehmoment-Mittelwert Trav mit einem festgelegten Lenkdrehmomentwert Trrf vergleicht und die Anomalität der Vorrichtung detektiert, wenn der Lenkdrehmoment-Mittelwert Trav größer ist als der festgelegte Wert.

LEISTUNGSUMWANDLUNGSVORRICHTUNG, MOTORANTRIEBSEINHEIT UND ELEKTRISCHE SERVOLENKUNGSVORRICHTUNG

Eine Leistungsumwandlungsvorrichtung (100) ist mit Folgendem versehen: einem ersten Inverter (120), der mit einem Ende einer Wicklung (M1, M2 und M3) jeder Phase eines Motors verbunden ist; einem zweiten Inverter (130), der mit dem anderen Ende der Wicklung jeder Phase verbunden ist; und einer Umschaltschaltung (110), die zumindest entweder ein erstes Umschaltelement (111), das eine Verbindung/Trennung zwischen dem ersten Inverter und einer Masse umschaltet und mit dem eine erste Schutzschaltung (PC1) parallel verbunden ist, und/oder ein zweites Umschaltelement (112), das eine Verbindung/Trennung zwischen dem zweiten Inverter und der Masse umschaltet und mit dem eine zweite Schutzschaltung (PC2) parallel verbunden ist, aufweist.

LEISTUNGSUMWANDLUNGSVORRICHTUNG, MOTORANTRIEBSEINHEIT UND ELEKTRISCHE SERVOLENKUNGSVORRICHTUNG

Eine Leistungsumwandlungsvorrichtung (100) gemäß einem Ausführungsbeispiel der vorliegenden Erfindung ist mit Folgendem versehen: einem ersten Inverter (120), der mit einem Ende der Wicklung jeder der Phasen eines Elektromotors (200) mit n Phasen (n ist eine Ganzzahl von 3 oder mehr) von Wicklungen verbunden ist; einem zweiten Inverter (130), der mit dem anderen Ende der Wicklung jeder Phase verbunden ist, und einer Umschaltschaltung (110), die zumindest ein erstes Umschaltelement (111) zum Umschalten dazwischen, ob der erste Inverter und eine Masse verbunden oder getrennt sind, und/oder ein zweites Umschaltelement (112) zum Umschalten dazwischen, ob der zweite Inverter und die Masse verbunden oder getrennt sind, aufweist.

Parameter-dependent resistance force control for hydraulic servo steering

Relative rotation of steering input shaft parts 2' and 2" controls a servo valve 5 which controls flow of fluid to the hydraulic steering motor 12. An electric motor 13 is provided on shaft part 2 and is controlled by control unit 14 which receives signals from a torque sensor 15 and also signals relating to a further parameter which may be vehicle speed. Instead of, or in addition to, the torque sensor 15, a force measuring device 17 may be located in the steering linkage 3, or pressure sensors 18 may be included in the hydraulic lines 10, 11 or a differential pressure gauge 19 may be arranged between the lines 10, 11. The electric motor may provide assistance in addition to that of the hydraulic motor eg at low speeds. Alternatively, all the assistance may be provided by the hydraulic motor and the electric motor may increase the manual effort needed at higher travelling speeds. ...

Elektrische Servolenkungsvorrichtung für ein Fahrzeug

Eine elektrische Servolenkungsvorrichtung für ein Fahrzeug weist Folgendes auf: eine erste Hilfslenkeinheit für das Unterstützen einer Lenkkraft, während sie eine Lenkspindel in einer Vorwärts- oder Rückwärtsrichtung mit einer Antriebskraft eines ersten Elektromotors dreht; eine zweite Hilfslenkeinheit für das Unterstützen einer Lenkkraft, während sie einen Zahnstangenstab in einer Richtung oder in einer entgegengesetzten Richtung mit einer Antriebskraft eines zweiten Elektromotors gleitend verschiebt; einen Drehmomentsensor zum Erfassen eines Rotationsdrehmoments der Lenkspindel; einen Geschwindigkeitssensor zum Erfassen einer Geschwindigkeit des Fahrzeugs; und ein elektronisches Steuergerät zum Senden eines Steuersignals für einen Zielstromwert jeweils zu dem ersten Elektromotor und dem zweiten Elektromotor in Reaktion auf Eingangssignale, die jeweils von dem Drehmomentsensor und dem Geschwindigkeitssensor eingegeben werden.

Systeme und Methode für das Schätzen einer Lenkunterstützung

Ein Verfahren für das Schätzen einer durch ein Servolenksystem eines Fahrzeugs bereitgestellten Lenkunterstützung kann das Korrelieren eines inneren Drehmoments, das durch ein adaptives Lenksystem des Fahrzeugs angewandt wird, mit einem äußeren Drehmoment, das auf eine Lenkanordnung des Fahrzeugs angewandt wird, umfassen. Das Verfahren kann auch das Schätzen der Lenkunterstützung auf Basis der Korrelation umfassen.

Fahrerunterstützungssystem für ein Fahrzeug

Wenn während einer autonomen Lenkregelung ein Lenkeingriff des Fahrers durchgeführt wird, bestimmt ein Fahrerunterstützungssystem für ein Fahrzeug eine P-Steuergröße auf Basis einer nicht-linearen Kennlinie und berechnet eine I-Steuergröße unter Verwendung eines Koeffizienten (C) gemäß einer Kennlinie (durchgezogene Linie). In einem Winkeldifferenzbereich (R1) wird die P-Steuergröße auf Basis der nicht-linearen Kennlinie so bestimmt, dass der Anstieg des absoluten Wertes der P-Steuergröße in Bezug auf den Anstieg des absoluten Wertes der Winkeldifferenz (Δθ) im Vergleich zu einer linearen Kennlinie geringer wird. Der Koeffizient (C) mit der Kennlinie (der durchgezogenen Linie) gibt in dem Winkeldifferenzbereich (R1) 1 an und nähert sich in einem Winkeldifferenzbereich (R2) null an, wenn der absolute Wert der Winkeldifferenz (Δθ) größer ist. Um die I-Steuergröße zu berechnen, wird der Koeffizient (C) mit dem aktuellen Wert der Winkeldifferenz (Δθ) multipliziert.

MOTORSTEUERVORRICHTUNG, DIE EINE ÜBERBELASTUNG DETEKTIERT

Eine Motorsteuervorrichtung umfasst eine Lastmomentschätzeinheit, die dazu ausgebildet ist, ein auf einen Motor ausgeübtes Lastmoment zu schätzen, eine Momentvergleichseinheit, die dazu ausgebildet ist, das Lastmoment mit einem Referenzmoment zu vergleichen, eine Zeitmesseinheit, die dazu ausgebildet ist, eine Zeitspanne, während der das Lastmoment höher als das Referenzmoment ist, zu messen, eine Zeitvergleichseinheit, die dazu ausgebildet ist, die Zeitspanne mit einer Referenzzeit zu vergleichen, und eine Entscheidungseinheit, die dazu ausgebildet ist, zu entscheiden, dass der Motor einer übermäßigen Belastung ausgesetzt ist, wenn die Zeitspanne die Referenzzeit übersteigt.

VERFAHREN ZUM BETRIEB EINES LENKSYSTEMS FÜR EIN KRAFTFAHRZEUG UND LENKSYSTEM

Steuervorrichtung für eine elektrische Servolenkung

Die vorliegende Anmeldung offenbart eine Steuervorrichtung für eine elektrische Servolenkung, umfassend: einen Verstärkungsbestimmungsabschnitt, der zum Bestimmen einer ersten Hilfsverstärkung entsprechend eines Lenkdrehmoments ausgebildet ist, das auf eine Lenkwelle ausgeübt wird, wenn ein Fahrer ein Lenkrad dreht; und eine Verstärkungseinstelleinrichtung, welche die erste Hilfsverstärkung als Reaktion auf eine Veränderung einer Drehrichtung des Lenkrads zum Erzeugen einer zweiten Hilfsverstärkung einstellt. Die Verstärkungseinstelleinrichtung erzeugt die zweite Hilfsverstärkung derart, dass eine Differenz zwischen einem ersten Drehmoment, das für den Fahrer zum Drehen des Lenkrads zu einer vorgegebenen Drehposition erforderlich ist, und einem zweiten Drehmoment, das für den Fahrer zum Halten des Lenkrads an der Drehposition erforderlich ist, vermindert wird.

Verfahren und Vorrichtung zur Lenkungssteuerung eines Fahrzeuges, insbesondere eines Nutzfahrzeuges

STEUERVORRICHTUNG FUER EINE LENKUNGSSTELLVORRICHTUNG EINES FAHRZEUGES

Verfahren zur Positionsregelung für ein Lenksystem

Ein Verfahren zur Positionsregelung für ein elektromechanisch unterstütztes Lenksystem (10) eines Kraftfahrzeugs wird beschrieben, das eine elektromechanische Lenkunterstützung mit einem Elektromotor (24) und zumindest einen Regler (40, 40') aufweist, wobei ein vom Elektromotor (24) aufzubringendes Drehmoment (TDEM) die Stellgröße des zumindest einen Reglers (40, 40') ist, und wobei die Regelstrecke (42) für den Entwurf des zumindest einen Reglers (40') wenigstens einen den Elektromotor (24) umfassenden unteren Teil des Lenksystems (10) umfasst. Ein Frequenzgang der Regelstrecke (42) wird basierend auf einem mathematischen Modell der Regelstrecke (42) und/oder durch Vermessen der Regelstrecke (42) bestimmt. Reglerparameter des zumindest einen Reglers (40, 40') werden basierend auf dem Frequenzgang der Regelstrecke (42) angepasst. Wenigstens eine Sollposition (φref) wird generiert und/oder empfangen. Wenigstens eine Istposition (φ) wird erfasst und rückgeführt, und die Stellgröße wird mittels ...

Servolenksystem und Steuervorrichtung für Servolenksystem

Bei einem Servolenksystem und einer Steuervorrichtung für das Servolenksystem ist ein Abnormalitätserfassungs-Prozessabschnitt (27) in einer zweiten ECU installiert, die einen Mehrkern-Mikrocomputer aufweist, bei dem eine Vielzahl von Prozesskernen in einer einzelnen Prozessor-Baueinheit installiert sind, um eine Abnormalität eines ersten Winkelberechnungs-Prozessabschnitts einer ersten ECU zu erfassen, wobei die erste ECU einen Einkern-Mikrocomputer aufweist, bei dem ein einzelner Prozessorkern in einer anderen einzelnen Prozessor-Baueinheit installiert ist, und der erste Winkelberechnungs-Prozessabschnitt (21) ist in der ersten ECU installiert, um Drehwinkel der Eingangsachse und der Ausgangsachse auf Basis von Sinuswellen-Signalen und Kosinuswellen-Signalen zu berechnen, die von einem Lenkwinkel-Sensor und einem Drehmoment-Sensor bezogen werden.

Verfahren zum Betreiben eines Lenkunterstützungssystems

Die Erfindung betrifft ein Verfahren zum Betreiben eines Lenkunterstützungssystems eines Kraftfahrzeugs, bei dem bei einer Lenkbewegung des Fahrers eine im Fahrbetrieb des Fahrzeugs stets bereitstehende Lenkunterstützung ermittelt und bereitgestellt wird, wobei die Lenkunterstützung durch einen elektrohydraulischen oder elektro-mechanischen Antrieb erfolgt, der in Abhängigkeit von der Fahrzeuggeschwindigkeit eine unterstützende Kraft oder ein unterstützendes Moment am Lenksystem aufbringt, wobei die Bereitstellung der Lenkunterstützung in Abhängigkeit vom Ergebnis einer Bewertung erfolgt, ob zwischen der ermittelten Lenkunterstützung und der Lenkintention des Fahrers eine Diskrepanz besteht, wobei bei einer Lenkbewegung des Fahrers der aktuelle Wert wenigstens eines Lenkparameters ermittelt wird, und dass ein Überschreiten eines Grenzwerts durch den aktuellen Wert als Diskrepanz zwischen der Lenkunterstützung und der Lenkintention des Fahrers gewertet wird, und wobei bei der Lenkbewegung ...

Elektrische Servolenkung

Verfahren zum Betreiben eines Lenksystems und Lenksystem

Vorgeschlagen werden ein Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems (10) eines Kraftfahrzeugs. Das Steer-by-Wire-Lenksystem (10) umfasst ein Lenkrad (14), einen mit dem Lenkrad (14) gekoppelten Kraftrückkopplungsaktuator (12), einen mit einem lenkbaren Rad gekoppelten Lenkaktuator (16) und ein Steuerungssystem (18). Das Verfahren umfasst a) das Ermitteln einer Lenkinformation unter Einbeziehung von einem Lenkradwinkel und/oder einem vom Fahrer auf das Lenkrad aufgebrachten Fahrerlenkmoment; b) das Ansteuern des Lenkaktuators (16) unter Einbeziehung der Lenkinformation, um einen gewünschten Radlenkwinkel des lenkbaren Rades einzustellen; c) das Ansteuern des Kraftrückkopplungsaktuators (12) zur Einstellung eines Lenkradmoments (ML); sowie d) das Vorsehen eines dem Lenkradmoment (ML) und/oder dem Radlenkmoment (MR) zugeordneten Schwellwerts (40-45); e) das Erzeugen eines das Lenkradmoment (ML) und/oder das Radlenkmoment (MR) ab- oder nachbildenden Momentenwerts; und f) das Ausgeben ...

Elektrische Servolenkung für ein Fahrzeug

Antriebsvorrichtung

Eine Antriebsvorrichtung beinhaltet einen Motor (80) mit zwei Sätzen Wicklungsdrähten, einen Controller (20), der koaxial mit dem Motor zum Steuern des Motors angeordnet ist, und einen Verbinder (35, 36, 37) zum Verbinden des Controllers mit einem externen Verbinder. Der Controller (20) hat eine Erstsystem-Steuereinheit (201) zum Steuern von Energie, die einem Satz Wicklungsdrähten bereitgestellt wird, und eine Zweitsystem-Steuereinheit (202) zum Steuern von Energie, die dem anderen Satz Wicklungsdrähten bereitgestellt wird. Der Verbinder hat einen ersten Pluspolanschluss (121) und einen ersten Minuspolanschluss (131) für Energie, die der Erstsystem-Steuereinheit bereitgestellt wird, und einen zweiten Pluspolanschluss (122) und einen zweiten Minuspolanschluss (132) für Energie, die der Zweitsystem-Steuereinheit bereitgestellt wird. Ein Abschnitt einer planaren Fläche des ersten Pluspolanschlusses (121) ist positioniert, um einen Abschnitt einer planaren Fläche des ersten Minuspolanschlusses ...

Elektrische Servolenkung

Fahrzeuglenkung

Motorbetriebene Servolenkungsvorrichtung

ELECTRONIC CONTROLLED POWER STEERING FOR VEHICLES

... 1341051 Power assisted steering J H APPLEBY 22 Aug 1972 [25 May 1971] 16774/71 Heading B7H An electrically operated power assisted steering mechanism includes a torsion bar c, the twist in which is converted into axial motion which varies a resistance and hence a current, this current then being used to control a switching device which in turn controls the torque output from an electric motor (not shown) which is directly coupled into the vehicle steering. As described the steering shaft consists of two tubular parts b, d interconnected by a torsion bar c. A pair of rollers f, g on the tubular part d engage an axial slot in a sleeve j and a roller e on the tubular part b engages an inclined slot in the sleeve j, the arrangement being such that when a torque is applied to the steering wheel a the twist in the torsion bar c is converted into axial movement of the sleeve j. A flange h is located between rollers k, l on the ends of levers m, n which are pivoted to a fixed plate s. When no torque ...

Electrical power assisted steering system

POWER STEERING EQUIPMENT

ELECTRIC POWER STEERING SYSTEM

ELECTRIC POWER STEERING SYSTEM

Current limiter for an EPAS system

Electric power steering system for vehicles

An electric power steering system (60) for vehicles has an electromagnetic servo device (1) including a drive control circuit (30, 40) for feeding a drive signal (Va) to an electric motor (14) for producing auxiliary torque to be supplied to an output shaft (6) in accordance with a steering torque signal (S1, S2) from a steering torque detection mechanism (32) which detects steering torque (Ts) acting on an input shaft (5) and a vehicle speed signal (S5) from a vehicle speed detection mechanism (50) which detects the speed (Vs) of the vehicle. The drive control circuit is adapted to determine, of the motor drive signal, a component (D(F)) corresponding to the load due to friction elements of the servo device and a component (D(L)) corresponding to the load from the road surface side, depending on the steering torque signal, and to determine a vehicle speed factor (K(V)), depending on the vehicle speed signal. The magnitude of the motor drive signal is determined as the sum of the frictional ...

Electric power steering system

A system having a motor operatively connected to a steering system for reducing the steering effort. The system is provided with a torsion torque sensor provided for detecting torsion torque generating in the steering system in steering operation. In response to the output signal of the torsion torque sensor, an assist signal is produced. The system has a dead zone for the output signal of the torsion torque sensor. Only when the output signal exceeds the dead zone, the assist signal is produced to operate the motor.

Electrically operated power steering apparatus

Steering drive current compensation

A vehicle steering control system 10 comprises a controller 26 which sends a control signal 36 to a motor driver circuit 30 which sends a current 32 to drive a steering actuation motor 20. The controller 26 receives a steering wheel angle signal 15 from a sensor 13, a road wheel angle signal 24 from a second sensor 22 and a feedback signal 34 indicative of the drive current 32 from a current sensor 28. The controller 26 deducts an offset value from the control signal 36 when the control signal 36 exceeds a threshold value. If the control signal is less than the threshold, an offset current signal is set to equal an initial offset value. The vehicle is typically steered-by-wire and comprises a pinion gear 17 and a rack 16. The controller may act to retrieve sample values of input signals 15,24,34 when a vehicle operator turns the steering wheel 12. This can compensate for temperature and other environmental effects on steering accuracy.

Controller for motor power steering system

A controller for motor power steering system in which a motor for providing a steering mechanism with a steering assist force is controlled based on a steering assist command value operated based on a steering torque generated in a steering shaft and the current value of the motor in order to enhance the steering performance by designing the mechanical system and the control system to match a desired complementary sensitivity function thereby attaining a stabilized comfortable steering feeling. The complementary sensitivity function for frequency is set to approach 1 in a band where a disturbance to be suppressed is present and to approach 0 in a band where a disturbance to be transmitted is present.

ELECTRIC POWER STEERING SYSTEM

Improvements in closed loop EPAS systems

A vehicle comprising a closed-loop electric power assisted steering (EPAS) system 10 comprising a control unit 30 configured to compute an artificial friction component and to compute a desired reference torque incorporating the artificial friction component, wherein the artificial friction component is dependent upon steering wheel angle. Also claimed is: a closed loop electric power assisted steering system; a programmable unit for use in a closed loop electric power assisted steering system; a method of determining a desired reference torque by collecting data at least relating to vehicle speed, steering wheel velocity, driver applied torque and steering wheel angle, computing an artificial friction that is dependent upon steering wheel angle and computing a desired reference torque based upon the collected data and the artificial friction; and a program for a computerised control of an electric power assisted steering system.

Control apparatus of electric power steering system

Enhanced steering operation

A vehicle power steering system comprises first actuator 14 engaged with a steering rack 34 and a second actuator 16 engaged with a steering column 22, and an operation mode of each is determined. The operation mode of an actuator 14, 16 is adjusted upon detecting a failure in the other actuator 16, 14, so that at least one of rack 34 and column 22 is actuated based on the operation mode. In an angle control mode, a predetermined steering angle is provided to actuators 14, 16 to adjust rack 34 according to the steering angle. In a torque control mode, a steering column torque from a torsion sensor disposed on column 22 is provided to actuators 14 16 to adjust rack 34 according to the steering column torque. Suitably, the torque control mode may be used if first actuator 14 fails, and the angle control mode may be used if second actuator 16 is used or if the steering is operated in a fully autonomous mode.

An electric motor apparatus

An electric motor supplied by a battery source is controlled by receiving an input torque demand signal indicative of the amount of torque demanded from the motor and producing as an output a set of motor current demand signals. A drive stage receives the motor current demand signals and causes currents to flow in each phase of the motor as required to meet the demanded torque. A torque demand limiter outputs a torque demand limit signal indicative of a torque demand limit, above which the battery current would exceed one or more limits. The torque demand limiter may set the value of the torque demand limit signal using a model of the motor and the drive or as a function of the voltage of the battery. The torque demand limiter may use one or more of the following parameters when determining the torque limit: motor battery current limit, generator battery current limits; motor electric power limit; generator electric power limit. A torque demand generator may generate a torque demand signal ...

Improvements in electric power assisted steering (EPAS) systems

VEHICLE STEERING SYSTEM

MOTOR-DRIVEN POWER STEERING SYSTEM

TAXTURN OUT FOR AN ELECTRICAL POWER STEERING

ADAPTIVE GUIDANCE CONTROL FOR A MOTOR VEHICLE

ELECTRICAL POWER STEERING

VEHICLE STEERING SYSTEM

TAX ENGINES IN ELECTRICAL SERVO STEERING SYSTEMS

Control device with auxiliary drive for vehicles with guidable wheels

ELECTRIC POWER STEERING APPARATUS CONTROL APPARATUS

Controlling an assist motor using a blending filter

ELECTRIC STEERING GEAR

An electronic control system for a steering assembly having an electric motor coupled to the steering assembly for providing power assist. The electric power assist motor is drivably connected to a steering member for assisting movement thereof in response to applied input torque to the vehicle steering wheel. The electronic control unit monitors an output signal from a torsion sensor which measures the amount of applied input torque. The electronic control unit generates a pulse width modulated signal having a duty cycle proportional to the measured amount of applied input torque. Solid state switches provide connection between the vehicle battery and the motor, the connection time being controlled by the duty cycle of the pulse width modulated signal. A speed decoder determines which of a plurality of speed ranges the vehicle is moving. A plurality of look-up tables are provided, each table includes a value of power assist for a given amount of applied input torque. A look-up table is ...

LOAD CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND METHOD FOR CONTROLLING LOAD CONTROL DEVICE

A load control device is provided with a load control means for driving a load, a current sensing resistor, a differential amplifier, and a current calculation means. The load control means can perform switching between a standby state in which a state in which one of switching elements is turned on and the other of the switching elements is turned off and a state in which the one of the switching elements is turned off and the other of the switching elements is turned on are repeated, and a drive state in which both of the switching elements are turned on. The current calculation means calculates a current flowing through the current sensing resistor on the basis of a value outputted from the differential amplifier in the drive state and an offset value outputted from the differential amplifier in the standby state.

Hilfskraftlenkung für Kraftfahrzeuge

Rotation Detection Apparatus, Rotation Angle Detection Apparatus, And Electric Power Steering System

Steering controller

Electric power-assisted steering device design method based on sliding-mode observer

STEERING REACTION FORCE CONTROL APPARATUS FOR VEHICLE

Motor control device and electric power steering device equipped with same

The invention provides a motor control device and an electric power steering device equipped with same. The motor control device has a current detection circuit for detecting a motor current in the form of a detected current value, a drive control unit for driving a motor according to a duty cycle based on a voltage command value determined on the basis of at least a current command value, and a rotation detection means for detecting an angle and an angular velocity of the motor. The motor control device is also equipped with an adaptive current observer that identifies each parameter fluctuation of an output model of the motor, computes an estimated current value of the motor, and uses the estimated current value to compute a voltage command value, an adaptive identification diagnosis unit that diagnoses incorrect estimation of the estimated current value obtained from the adaptive current observer, and a current-undetectable state detection unit that detects a current-undetectable state ...

Electric power steering device

Electric power steering device

Steering support device

A steering support device which can perform steering support control excellent in follow-up performance on a traveling road by increasing a steering amount by steering control at the entrance of a curve. The steering support device (1), calculating a steering target value based on the shape of a road on which a vehicle travels and supporting steering depending on the steering target value, judges whether or not the vehicle is traveling through the entrance of a curve of the traveling road, and, if a judgment is made that the vehicle is traveling through the entrance of a curve, increases variation in steering target value as compared with a case when the vehicle is not traveling through the entrance of a curve. Consequently, steering amount of steering wheel can be increased at the entrance of a curve and delay in increasing steering amount can be suppressed at the entrance of a curve.

System and method for estimating steering torque

Inverter commutation technique for five-phase synchronous motor drive

Driver unit and electric power steering device including driver unit

Electric drive apparatus and electric power steering apparatus

APPARATUS AND METHOD FOR SITUATION DEPENDENT WHEEL ANGLE CONTROL (HAD OR ADAS)

Electric power steering device

The inventin relates to an electric power steering device which performs a normal relay-OFF operation in a gradual manner to reduce operating noise and performs the relay-OFF operation at a high speed in case of detection of an abnormality.The electric power steering device includes: a fail-safe power relay and a motor relay for interrupting power supply to an electric-motor driving unit for driving an electric motor for applying an assist torque for steering performed by a driver; and a relay driving circuit including a switch connected in parallel to drive coils of the relays and a diode. A target value of a relay-contact energizing current is lowered and the relays are gradually interrupted while an amount of current corresponding to a back surge generated when the relays are turned OFF is caused to flow back to the diode of the relay driving circuit in a normal relay-OFF operation, whereas the relays are quickly interrupted without operating the relay driving circuit in case of detection ...

EPS based power-assisted steering mode switching system and method

Electronic power-assisted steering apparatus

Electric power-assisted steering based on the torque of the center sense

Torque sensor and using the power-assisted steering device

Steering controller for vehicle, estimates motor rotational speed using motor current and drive voltage based on which motor drive circuit is controlled

Dispositif de commande de la direction comprenant une source d'alimentation (1), un moteur (3) relié au système de direction, un circuit d'entraînement du moteur (2, 4) qui convertit une tension de la source d'alimentation en une tension prédéterminée et qui applique la tension sur le moteur, et des moyens de commande (8) destinés à commander le circuit d'entraînement du moteur (2, 4), dans lequel les moyens de commande (8) commandent le circuit d'entraînement du moteur (2, 4) de manière à augmenter la tension de la source d'alimentation (1) lorsque la vitesse de rotation du moteur (3) est égale ou supérieure à une valeur prédéterminée, moyennant quoi un couple suffisant de sortie du moteur peut être obtenu dans des conditions de conduite variées grâce à l'utilisation d'un convertisseur (2), une efficacité est améliorée en supprimant une fréquence de fonctionnement du convertisseur (2) et un traitement sûr est mis en place lorsque le convertisseur est en panne.

MECHANISM OF ASSISTED STEERING COLUMN OF VEHICLES HAVING STEERABLE WHEELS.

ELECTROMAGNETIC SERVO SYSTEM INTENDS HAS ELECTRIC SYSTEMS OF POWER STEERING FOR VEHICLES

Device to order a force of reaction to an element of manual actuation of hydraulic power-assisted steering, in particular for motor vehicle.

SYSTEM OF ELECTRIC DIRECTION ASSISTEE

Electrical steering system for vehicle, has initial value fixation unit driving electrically erasable programmable ROM to store state of electronic control unit when an ignition switch is changed from ON to OFF state

Unité de direction électrique comprenant : un mécanisme de direction pour diriger une roue sous l'action du couple d'un volant de direction ; un moteur (7) pour ajouter une énergie d'assistance à la direction au mécanisme de direction ; un contrôleur (3) pour contrôler un courant conduit à travers le moteur conformément à un état de direction ; un élément de stockage (107) pour stocker un état du contrôleur (3) ; et un dispositif de fixation de valeur initiale (108) pour entraîner que l'élément de stockage (107) stocke un état du contrôleur lorsque le commutateur d'allumage (101) passe dans l'état OFF, et pour obtenir un processus d'état de surchauffe du contrôleur ou du moteur afin de fixer une valeur initiale d'une valeur limite de courant vers le moteur (7) lorsque le commutateur d'allumage (101) passe dans l'état ON. Lorsque le commutateur d'allumage (101) est dans l'état OFF, non seulement la charge sur une batterie (4) est réduite, mais le moteur (7) est commandé avec efficacité au ...

Power assisted vehicle steering mechanism - has bi-directional hydraulic jack applying assisting force in response to wheel movement controlling hydraulic distributor

DEVICE FOR EXHAUST GAS.

Electronic power steering apparatus, control method therof and program

Provided are: an electric motor that applies steering assist force to a steering wheel; a target current determination unit 25 that calculates a target current to be supplied to the electric motor on the basis of steering torque of the steering wheel; and a correction unit 27 that, when a rotation speed of the electric motor is less than a predetermined rotation speed, corrects the target current calculated by the target current determination unit 25 to be reduced on the basis of an actual current supplied to the electric motor and a time during which the actual current is supplied. Thereby a technique is provided to suppress a failure of the electric motor due to an excessive current flowing through the electric motor with higher accuracy.

Method and a system for assisting a driver of a vehicle during operation

A method is provided for assisting a driver of a vehicle during operation by providing the driver with a desired steering feel. The method includes determining a desired steering device guiding force including a part representing a desired friction in a steering arrangement, and providing the driver with the desired steering feel based on the determined steering device guiding force.

Damping methods and systems for electric power steering

A control system for controlling an electric power steering system is provided. The control system includes a first module that estimates a damping force based on an assist torque and a handwheel velocity. A second module generates a control signal based on the estimated damping force.

Electric power steering device

An electric power steering device includes: a fail-safe power relay ( 9 a ) and a motor relay ( 10 a ) for interrupting power supply to an electric-motor driving unit for driving an electric motor for applying an assist torque for steering performed by a driver; and a relay driving circuit ( 8 a ) including a switch ( 13 a ) connected in parallel to drive coils of the relays ( 9 a and 10 a ) and a diode ( 16 a ). A target value of a relay-contact energizing current is lowered and the relays ( 9 a and 10 a ) are gradually interrupted while an amount of current corresponding to a back surge generated when the relays are turned OFF is caused to flow back to the diode ( 16 a ) of the relay driving circuit ( 8 a ) in a normal relay-OFF operation, whereas the relays ( 9 a and 10 a ) are quickly interrupted without operating the relay driving circuit ( 8 a ) in case of detection of an abnormality.

Vehicle

It is desirable to enhance efficiency of a power conversion device in both of a case where a motor generator which is an electric rotating machine is operated as a motor and a case where the motor generator is operated as a generator by performing regeneration braking. At the time of performing regeneration braking, strength of regeneration braking can be controlled by making an inverter circuit conductive in response to a predetermined phase of an AC output which the inverter circuit generates and by controlling a conduction width. Due to such a control, the number of times of switching a semiconductor element which constitutes the inverter circuit can be reduced thus suppressing heat generation of the semiconductor element and also the efficiency of the power conversion device can be enhanced. Further, the enhancement of efficiency of the power conversion device can be realized also in a motor operation and hence, it is also possible to enhance efficiency with respect to the traveling of a vehicle. 1. A vehicle which mounts: a motor generator for generating a torque for moving the vehicle or generates a regeneration braking force against traveling of the vehicle; an acceleration pedal for accelerating the vehicle; a brake pedal for decelerating the vehicle; a first control circuit and a first inverter circuit for controlling the motor generator based on a manipulation variable of the acceleration pedal and a manipulation variable of the brake pedal; a low voltage battery; and a high voltage power source device thereon , whereinthe first inverter circuit includes an AC terminal and a DC terminal, the DC terminal of the first inverter circuit is electrically connected with the high voltage power source device, the AC terminal of the first inverter circuit is electrically connected with the motor generator, the first control circuit is operated based on DC power supplied from the low voltage battery, the first inverter circuit includes a plurality of semiconductor ...

CONTROL DEVICE FOR ELECTRIC POWER STEERING APPARATUS

A control apparatus for an electric power steering apparatus, including a dead time characteristic section that calculates a dead time characteristic value; a steering status determining section that determines a steering status; a gain section that varies a gain of the dead time characteristic value in accordance with a determination of the steering status; a polarity determining section that switches polarity determining methods in accordance with the determination of the steering status and determines a polarity on the basis of a detected current of a motor, a current command value or a model current; a temperature sensor that detects a temperature of an inverter; a dead time temperature correction value calculating section that calculates a dead time temperature correction value corresponding to the temperature; and a calculation processing section that calculates and processes the dead time temperature correction value with respect to a dead time compensation value with polarity based on an output of the gain section and outputs a dead time compensation value. 1. A control device for an electric power steering apparatus that controls a motor providing a steering mechanism with asteering assist force by means of an inverter based on current command value calculated based on a steering torque generated in a steering shaft and a voltage command value from a current control section inputting said current command value, comprising:a dead time characteristic section that calculates a dead time characteristic value based on said current command value;a steering status determining section that determines a steering status of a steering wheel;a gain section that varies a gain of said dead time characteristic value in accordance with a determination of said steering status determining section;a polarity determining section that switches polarity determining methods in accordance with said determination of said steering status determining section and simultaneously ...

System and method for providing steering torque assistance to an electrically-powered steering apparatus of a vehicle

A system for providing steering torque assistance to an electrically-powered steering apparatus comprises a torque assistance motor coupled to the steering apparatus. A steering controller is configured to cause the torque assistance motor to apply a commanded level of steering torque assistance to the steering apparatus. The steering controller is configured to determine the commanded level of steering torque assistance based on a product of a scheduled level of steering torque assistance and a torque assistance scale factor, wherein the scheduled level of steering torque assistance is determined from a scheduled torque assistance characteristic having a nominal assist. The steering controller is configured to determine a scaled assist based on feedback from one or more safety sensors; and the torque assistance scale factor is determined as a ratio of the scaled assist and the nominal assist.

Controllers for and Methods of Controlling Electric Power Assisted Steering Systems

A controller for an electric power assisted steering system includes a steering mechanism and an electric motor that can apply an assistance torque to the steering mechanism. The controller has an input for an input torque signal indicative of the torque applied by a user to the steering mechanism and an output for an assistance torque demand indicative of the assistance torque to be applied to the steering mechanism by the electric motor. The controller includes: a first subcontroller having an input for the input torque signal, an output for a first assistance torque and a process arranged to determine the first assistance torque; a second subcontroller having an input for the input torque signal, an output for a second assistance torque and a processor arranged to determine the second assistance torque; and a blending unit, which provides as an output the assistance torque demand. The blending unit combines the first and second assistance torques in time-varying proportions in order to determine the assistance torque demand. 114-. (canceled)15. A controller for an electric power assisted steering system comprising a steering mechanism which operatively connects a steering wheel to road wheels of a vehicle , and an electric motor operatively connected to the steering mechanism in order to apply an assistance torque to the steering mechanism , the controller having an input for an input torque signal indicative of the torque applied by a user to the steering mechanism and an output for an assistance torque demand indicative of the assistance torque to be applied to the steering mechanism by the electric motor ,in which the controller comprises:a first subcontroller having an input for the input torque signal, an output for a first assistance torque and a processor arranged to determine the first assistance torque based upon the input torque signal;a second subcontroller having an input for the input torque signal, an output for a second assistance torque and a ...

Securing the assistance torque by means of an estimator of the force on the rack

The invention relates to a method for securing the assistance torque ( 15 ) supplied by an electric assistance motor ( 8 ) in a motor vehicle power steering system, the securing method being characterized in that it includes the steps of: estimating the force on the steering system rack from the torque exerted by the driver on the steering wheel ( 2 ), from the assistance torque ( 15 ), and optionally from other parameters such as the speed of the electric assistance motor; comparing a target assistance torque with an authorized assistance range, defined with respect to the estimated rack force ( 17 ) at any moment, and in the event the target assistance torque is maintained above predefined limits for a predefined duration, correcting and optionally interrupting the power steering.

STEER-BY-WIRE STEERING SYSTEM

A wheel-turning device that constitutes a steer-by-wire steering system is made as compact as possible so as to be housed in a wheel house of a vehicle. The steer-by-wire steering system is provided including a wheel-turning device mechanically separated from a steering input device, the wheel-turning device being controlled based on an input signal from the steering input device, wherein the wheel-turning device includes a wheel-turning motor secured to a knuckle of a steered wheel via a gear case, a wheel-turning shaft secured to an upper arm, a worm wheel secured to the wheel-turning shaft, a worm gear meshing with the worm wheel, and the gear case housing the gears. 1. A steer-by-wire steering system comprising: a steering input device; a wheel-turning device mechanically separated from the steering input device; and a control device that controls the wheel-turning device based on an input signal from the steering input device , wherein the wheel-turning device includes a wheel-turning actuator secured to a steered wheel coupling member constituted by a knuckle of a steered wheel or a member secured to the knuckle , a wheel-turning shaft secured to an upper arm of a suspension , a fixed gear secured around the wheel-turning shaft , a pinion gear that meshes with the fixed gear and moves around the fixed gear , and a gear case housing the gears , a drive shaft of the wheel-turning actuator is coupled to the pinion gear , the fixed gear is free with respect to the gear case , the pinion gear is supported by the gear case , and the gear case is secured to the steered wheel coupling member.2. The steer-by-wire steering system according to claim 1 , wherein a universal joint is provided in a middle of the wheel-turning shaft.3. The steer-by-wire steering system according to claim 2 , wherein the universal joint is a constant velocity universal joint.4. The steer-by-wire steering system according to claim 1 , wherein the wheel-turning actuator is a motor.5. The steer- ...

ELECTRIC POWER STEERING APPARATUS

The electric power steering apparatus has a plurality of power systems each including an inverter apparatus provided corresponding to a plurality of wiring sets of a motor thereof. The control section calculates the assist current to be supplied to the motor using a one power system failure-state map when the inverter apparatus or its corresponding wiring set of one of the power systems fails, or using a vehicle speed detection failure-state map when there is a failure in detecting the vehicle speed. The assist current limit value in the one power system failure-state map and the assist current limit value in the vehicle speed detection failure-state map are set to the same value. 1. An electric power steering apparatus comprising:a vehicle speed sensor for detecting a vehicle speed of a vehicle;a torque sensor for detecting a steering torque generated by a steering wheel operated by a vehicle driver;a motor having a plurality of wiring sets and generating an output torque when supplied with electric power;a reduction gear for reducing a rotational speed of the motor to amplify the output torque of the motor, and transmitting the amplified output torque to a steering shaft of the vehicle as an assist torque; anda control section for controlling rotation of the motor,wherein the control section includes:a plurality of power systems provided corresponding to the plurality of the winding sets of the motor, each of the power systems including a power converter apparatus for supplying power to a corresponding one of the winding sets;a drive circuit for driving the power converter apparatus of each of the plurality of the power systems to supply an assist current to the motor in accordance with an assist current command value;a failure detection means for, upon detecting a failure in the power converter apparatus or the winding set of any one of the power systems, identifying the one of the power systems as a failed power system;a power supply stopping means for stopping ...

ELECTRIC POWER STEERING SYSTEM

In an electric power steering system, a control signal output section outputs independent dual-system control signals to driver circuits that are disposed in connection with independent dual-system motor coils. The control signal output section gives high priority to the output of the control signal to the other system, when the occurrence of energization failure is detected in one system. When the energization failure occurring phase is only one phase and the value of the basic command exceeds the upper limit of the priority command, the control signal output section outputs the control signal to the driver circuit in the system where the energization failure has occurred in order to supply electric power in which the two phases other than the energization failure occurring phase are used as the energized phases on the bases of the complementary command that corresponds to the excess of the upper limit. 1. An electric power steering system comprising:a steering force assist device configured to give assist force to a steering system based on magnetomotive force generated by dual-system motor coils, the dual-system motor coils being provided independently;a controller configured to control operation of the steering force assist device through electric power supply to the motor coils, the controller including a command section, a control signal output section and independent dual-system driver circuits, the command section being configured to generate a basic command for the power supply in order to generate motor torque corresponding to the assist; force, the control signal output section being configured to output independent dual-system control signals based on the basic command, and the independent dual-system driver circuits being configured to output three-phase drive electric power to the motor coils connected based on the control signals; anda detection section configured to detect for each phase the occurrence of energization failure in each power supply ...

VEHICLE HAVING A VARIABLE ASSIST POWER STEERING ASSEMBLY

A recreational utility vehicle has a frame, four wheels, a pair of seats mounted laterally beside each other, a cage, a steering assembly, an engine, a front differential, a rear differential, an actuator selectively operatively connecting the engine to the front differential, and a vehicle drive mode switch for selecting between a first and second drive mode. When the first drive mode is selected, the actuator operatively connects the engine to the front differential, and when the second drive mode is selected, the actuator operatively disconnects the engine from the front differential. An electric motor is operatively connected to the steering assembly. A steering control unit is electrically connected to the electric motor, determines an output torque to be applied by the electric motor based at least in part on a speed of the vehicle, and controls the electric motor to apply the output torque to the steering assembly. 1. A recreational utility vehicle comprising:a frame;two front wheels suspended from the frame, each of the two front wheels including a tire;two rear wheels suspended from the frame, each of the two rear wheels including a tire;a pair of seats mounted on the frame, each seat having a seat base and a backrest, the seats being mounted laterally beside each other to accommodate a driver and a passenger of the recreational utility vehicle;a cage connected to the frame and disposed around an area where the pair of seats is located;a steering assembly disposed at least in part forwardly of at least one of the seats and being operatively connected to the two front wheels, the steering assembly including a steering wheel;an engine mounted to the frame;a front differential selectively operatively connected to the engine and operatively connected to the two front wheels through a plurality of half shafts;a rear differential operatively connected to the engine through a longitudinally extending rear propeller shaft and operatively connected to the two rear ...

MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE

A motor control device for driving a brushless motor includes a current detecting unit which detects respective phase currents which flow into the brushless motor; a control calculation unit which calculates instruction values showing respective phase voltages to be applied to the brushless motor, and outputs the instruction values as phase voltage instruction values; a phase resistance calculation unit which calculates respective phase resistance values based on detection values of the respective phase currents detected by the current detecting unit, and the instruction values of the respective phase voltages applied to the brushless motor at the time of the detection of the detection values; a correction unit which corrects the phase voltage instruction values according to the respective phase resistance values calculated by the phase resistance calculation unit; and a driving unit which drives the brushless motor based on the phase voltage instruction values after correction by the correction unit. 1: A motor control device for driving a brushless motor , the motor control device comprising:a current detecting unit which detects respective phase currents which flow into the brushless motor;a control calculation unit which calculates instruction values showing respective phase voltages to be applied to the brushless motor, and outputs the instruction values as phase voltage instruction values;a phase resistance calculation unit which calculates respective phase resistance values based on detection values of the respective phase currents detected by the current detecting unit, and the instruction values of the respective phase voltages applied to the brushless motor at the time of the detection of the detection values;a correction unit which corrects the phase voltage instruction values according to the respective phase resistance values calculated by the phase resistance calculation unit; anda driving unit which drives the brushless motor based on the phase ...

HYBRID POWER STEERING SYSTEM

In a hybrid power steering system, two steering assisters for supporting a steering force when the driver operates the steering wheel. The steering supporting force can be divisionally used according to the increase of speed and weight of a vehicle, thereby reducing the load applied to any of the steering assisters such that operating noise can be reduced and the endurance can be increased. Further, a motor of a lower power specification may be used even in the case of a truck or a bus that requires a relatively high steering force as compared to a passenger vehicle. Accordingly, production costs can be reduced and a sufficient steering supporting force can be obtained, thereby improving the driver's convenience, and enhancing fuel efficiency while increasing energy efficiency. Further, the steering can be safely maintained even when one of the steering assisters is not operating normally while the vehicle is being driven. 1. A hybrid power steering system comprising:a first steering assister configured to rotate a steering shaft in a forward or reverse direction using the driving force of a first motor so as to support a steering force;a second steering assister configured to rotate a sector shaft of a gear box in a forward or reverse direction using the hydraulic pressure of the hydraulic oil of an oil pump driven by a second motor so as to support the steering force;a torque sensor configured to sense the rotational torque of the steering shaft;a speed sensor configured to sense vehicle speed; andan electronic control unit configured to send target electric current value control signals to the first motor and the second motor according to input signals input from the torque sensor and the speed sensor, respectively.2. The hybrid power steering system as claimed in claim 1 , wherein the first steering assister comprises:a reducer including a worm wheel connected and rotated with the steering shaft, and a worm shaft adapted to tooth-mesh with the worm wheel to ...

METHOD FOR OPERATING AN ELECTRIC STEERING SYSTEM OF AN INDUSTRIAL TRUCK AND INDUSTRIAL TRUCK PROVIDED FOR THIS PURPOSE

A method is provided for operating an electrical steering system of an industrial truck. An assignment assigns a target value for a rotational position of the steering wheel to each rotational position of the steered wheel. An electrical steering drive motor is provided for the steered wheel such that the detected rotational movement of the steering wheel is converted into rotational movement according to a predetermined transmission factor. An absolute value of a rotational position of the steering wheel and the steered wheel is detected during travel of the industrial truck. If the detected absolute values are related to one another according to the assignment, and if a deviation is determined, a transmission factor is specified that differs from the predetermined transmission factor for the conversion of the detected rotational movement of the steering wheel into the rotational movement of the steered wheel such that the determined deviation is automatically counteracted during the further steering movement. 1. A method for operating an electrical steering system of an industrial truck having a steering wheel and at least one steered wheel , wherein there is an assignment which assigns a target value for a rotational position (φ) of the steering wheel to each rotational position (α) of the at least one steered wheel , the method comprising:detecting a rotational movement of the steering wheel of the industrial truck,actuating an electrical steering drive motor for the at least one steered wheel such that the detected rotational movement of the steering wheel is converted into a rotational movement of the at least one steered wheel according to a predetermined transmission factor (i),detecting an absolute value of a rotational position (φ) of the steering wheel during travel of the industrial truck,detecting an absolute value of a rotational position (α) of the steered wheel during travel of the industrial truck,checking whether the detected absolute values are ...

CONTROL IN AN ELECTRIC STEERING SYSTEM

An electric power steering system may be controlled by superimposing a driver demand and a driver assistance device demand value to calculate a driver requested support value, in which a virtual driver support value may be calculated based on driver demand and a correction driver support value may be calculated based on a driver assistance device demand value, and the driver requested support value may be calculated as a combination of the virtual correction driver support value and the virtual driver support value. 1. A method of operating an electric power steering system , applicable for superimposing a driver demand and a driver assistance device demand value to calculate a driver requested support value , the method comprising:calculating a virtual driver support value on the basis of the driver demand;calculating a correction driver support value on the basis of a driver assistance device demand value; andcalculating the driver requested support value as a combination of the correction driver support value and the virtual driver support value, wherein calculating the correction driver support value includes:calculating an intermediate correction driver support value on basis of the driver assistance device demand value;comparing an absolute value of the intermediate correction driver support value with an assistance limit;if the absolute value of the intermediate correction driver support value exceeds the assistance limit, then multiplying the intermediate correction driver support value with a limiting factor to get the correction driver support value, wherein the limiting factor has a value, which is less than one and greater than or equal to zero, andif the absolute value of the intermediate correction driver support value is less than the assistance limit, then setting the correction driver support value to the intermediate correction driver support value.2. The method of operating an electric power steering system according claim 1 , wherein the ...

Steering apparatus

A steering apparatus is provided with: a specifying device which is configured to specify an environment of a road on which a vehicle travels, on the basis of a manipulated amount of the steering wheel manipulated by a driver and a change of the manipulated amount in a predetermined period.

ELECTRIC POWER STEERING APPARATUS FOR VEHICLE

An electric power steering apparatus for a vehicle, includes: a first auxiliary steering unit for assisting with steering power while rotating a steering shaft in a forward or reverse direction with a driving power of a first motor; a second auxiliary steering unit for assisting with steering power while sliding a rack bar in one or an opposite direction with a driving power of a second motor; a torque sensor for detecting a rotary torque of the steering shaft; a speed sensor for detecting a speed of the vehicle; and an electronic control unit for transmitting a target current value control signal to the first motor and the second motor respectively in response to input signals input from the torque sensor and the speed sensor, respectively. 1. An electric power steering apparatus for a vehicle , comprising:a first auxiliary steering unit for assisting with steering power while rotating a steering shaft in a forward or reverse direction with a driving power of a first motor;a second auxiliary steering unit for assisting with steering power while sliding a rack bar in one or an opposite direction with a driving power of a second motor;a torque sensor for detecting a rotary torque of the steering shaft;a speed sensor for detecting a speed of the vehicle; and{'b': '20', 'an electronic control unit for transmitting a target current value control signal to the first motor and the second motor respectively in response to input signals input from the torque sensor and the speed sensor, respectively.'}2. The electric power steering apparatus of claim 1 , wherein the first auxiliary steering unit comprises:a first reducer including a worm wheel connected to the steering shaft to be rotated, and a worm shaft engaged with the worm wheel to rotate the worm wheel connected to the steering shaft; anda first motor for driving the worm shaft in a forward or reverse direction in response to a control signal input from the electronic control unit.3. The electric power steering ...

Electric power steering system and controller of the electric power steering system

Electric power steering system has steering mechanism; input and output shaft side rotation angle sensors detecting rotation angles of input and output shafts; operation circuit calculating command current for an electric motor; rotation direction judging circuit judging whether rotation directions of the input and output shafts are identical; advanced-phase judging circuit judging which phase of input and output shaft side rotation angle signals (S 1 , S 2 ) is advanced; normal/reverse input judging circuit judging that (i) when both rotation directions are identical and S 1 is advanced, input is normal input and (ii) when both rotation directions are identical and S 2 is advanced, input is reverse input; and command current correcting circuit. The command current correcting circuit corrects the command current so that when the normal input is judged, torque in the same direction as input shaft rotation direction generated by the electric motor is greater than a case of reverse input judgment.

Method Of Controlling A Servo Motor In An Electric Vehicular Steering System

A method comprising the steps: a manually applied driver steering moment is detected; a requested superposition moment is detected; the driver steering and superposition moments are combined to form an intermediate moment from which an assistance moment is generated by means of a predefined, non-linear amplification function; starting from detected values of the driver steering and superposition moments, a modified superposition moment compensating for friction in the electric steering system at least in part is determined such that the amount of the modified superposition moment is larger than the amount of the superposition moment at least for some pairs of variates comprised of driver steering and superposition moments; the assistance and modified superposition moments are combined to form a motor moment from which a corresponding input signal for a servo motor is established; the servo motor is controlled with the established input signal to provide the motor moment. 1. A method of controlling a servo motor in an electric vehicular steering system in consideration of superposition moments and by compensating for influences of the system-inherent friction , the method comprising the following steps:a manually applied driver steering moment is detected;a requested superposition moment is detected;the driver steering moment and the superposition moment are combined to form an intermediate moment from which an assistance moment is generated by means of a predefined, non-linear amplification function;starting from the detected values of the driver steering moment and of the superposition moment, a modified superposition moment compensating for the friction in the electric vehicular steering system at least in part is determined such that the amount of the modified superposition moment is larger than the amount of the superposition moment at least for some pairs of variates comprised of driver steering moment and superposition moment;the assistance moment and the ...

METHOD FOR OPERATING A POWER STEERING MECHANISM

Provided is a method for operating a power steering system and to such a power steering system. A motor torque is computed by an electronic processor and is established by suitable motor actuation, wherein a plausibility check of the computed motor torque is carried out, taking a measured manual torque into consideration. A value of the additional torques of at least one special function is further considered in the plausibility check. 1. A method for operating a power steering system , in which a motor torque is computed by an electronic processor and is established by suitable motor actuation , wherein a plausibility check of the computed motor torque is carried out , taking a measured manual torque into consideration ,wherein a value of the added torques of at least one special function is further taken into account in the plausibility check.2. The method according to claim 1 , wherein the measured manual torque is corrected by the value of the added torques of the special function.3. The method according to claim 2 , wherein the manual torque is increased.4. The method according to claim 2 , wherein the manual torque is reduced.5. A method according to claim 1 , wherein a plausibility check is carried out within the framework of a 3-level design.6. A method according to claim 1 , wherein the manual torque claim 1 , which is detected by way of a manual torque sensor claim 1 , is controlled by specifying a target manual torque.7. A method according to claim 1 , which is carried out based on the following requirements:the superposed torques must either be limited to intrinsically safe figures with respect to the value and gradient or must assure ASIL D compliance through plausibility check measures;the superposed torques must only be requested in appropriate special situations and must be monitored and limited in terms of time; andthe superposed torques must subject to a plausibility check of the application direction and exclude undesirable, potentially ...

STEERING DEVICE WITH ELECTRICAL STEERING GEAR AND METHOD FOR CONTROLLING OF SAME

The present invention relates to a method for controlling an electrical steering gear for a motor vehicle, especially a passenger car, wherein an effective force applied to a steering linkage is detected and a tractive force applied by the electrical steering gear is preset based on the condition that a load acting on the steering linkage does not exceed a preset load limit value. 1. A method for controlling an electrical steering gear for a motor vehicle , wherein an effective force applied to a steering linkage is detected applied by the electrical steering gear is preset based on the condition that a load acting on the steering linkage does not exceed a preset load limit value.2. The method according to claim 1 , wherein the load acting on the steering linkage claim 1 , includes a tensile-compressive force in a tie rod.3. The method according to claim 1 , wherein the tractive force is preset to be lower than a tractive force preset at an effective force limit value that drops as the effective force increases and counter to the effective force claim 1 , if the effective force exceeds the effective force limit value.4. The method according to claim 3 , wherein the preset effective force limit value at most is 120 Nm.5. The method according to claim 1 , wherein the tractive force is preset so that the load at least corresponds to the load limit value if the effective force exceeds a preset effective force limit value.6. The method according to claim 3 , wherein the preset effective force limit value is steering-angle-dependent.7. The method according to claim 1 , wherein the effective force applied to the steering linkage includes an operating force applied by an operator to a steering means.8. The method according to claim 1 , wherein the effective force applied to the steering linkage includes the load acting on the steering linkage.9. A steering device for a motor vehicle comprising a steering means able to be operated by a driver claim 1 , a steering linkage for ...

Electric Power Steering Apparatus

An electric power steering apparatus includes a first torque calculating unit for calculating a first torque command based on a steering torque detected by the steering torque detecting unit, a second torque command calculating unit for calculating a second torque command based on the wheel rotation speed, an emergency switching unit for outputting the second torque command instead of the first torque command when error of the rotation torque is detected, a wheel rotation speed error detecting unit for detecting an error of the wheel rotation speed based at least on the wheel rotation speed, the steering torque in a normal state and the motor rotation information, and an emergency command limiting unit for liming the second torque command when normal and the motor rotation information, and where error of the wheel rotation speed is detected, when the second torque command is selected by the emergency switching unit. 1. An electric power steering apparatus comprising:a steering torque detecting unit for detecting a steering torque input to a steering mechanism;a first torque command calculating unit for calculating a first torque command based on the steering torque detected by the steering torque detecting unit;an electric motor for generating a steering assist torque to be supplied o the steering mechanism;a torque detecting unit error detecting unit for detecting error of the steering torque detecting unit;a wheel rotation speed detecting unit for detecting a wheel rotation speed of a vehicle;a motor rotation information detecting unit for detecting motor rotation information of the electric motor;a second torque command calculating unit for calculating a second torque command based on the wheel rotation speed detected by the wheel rotation speed detecting unit;an emergency switching unit for selecting the first torque command, when an error of the torque detecting unit is not detected by the torque detecting unit error detecting unit, and for selecting the second ...

Power Steering Apparatus, and Controller for Power Steering Apparatus

In a power steering system, a torque sensor obtains first and second rotation angles, and a steering angle sensor obtains third and fourth rotation angles. A controller includes a first absolute rotation angle calculation section, a second absolute rotation angle calculation section, and an abnormality detection section. The first absolute rotation angle calculation section calculates a first absolute rotation angle as a first estimate of an absolute rotation angle of a steering wheel based on the first and third rotation angles. The second absolute rotation angle calculation section calculates a second absolute rotation angle as a second estimate of the absolute rotation angle of the steering wheel based on the third and fourth rotation angles. The abnormality detection section detects an abnormality by comparison between the first absolute rotation angle and the second absolute rotation angle. 1. A power steering apparatus comprising: [ an input shaft configured to be rotated by steering operation of a steering wheel;', 'an output shaft; and', 'a torsion bar connected between the input shaft and the output shaft, and configured to transmit rotation of the input shaft to the output shaft; and, 'a steering shaft including, 'a motion conversion mechanism configured to convert rotation of the output shaft to steering motion of a steerable wheel;, 'a steering mechanism includingan electric motor configured to apply a steering effort to the steering mechanism; a first rotation angle sensor configured to sense as a first rotation angle a rotation angle of the input shaft; and', 'a second rotation angle sensor configured to sense as a second rotation angle a rotation angle of the output shaft;', 'wherein the torque sensor is configured to determine a steering torque on a basis of a relative rotation angle between the first rotation angle and the second rotation angle, wherein the steering torque occurs in the steering shaft;, 'a torque sensor includinga third rotation ...

Power Steering System And Control Apparatus For Power Steering System

In a power steering system and a control apparatus for the power steering system, an abnormality detection process section () installed in a second ECU, the second ECU, the second ECU having a multi-core microcomputer in which a plurality of processor cores are mounted within a single processor package, to detect an abnormality of a first angle calculation process section of a first ECU, the first ECU having a single core microcomputer in which a single processor core is mounted within another single processor package and the first angle calculation process section a first angle calculation process section () installed in the first ECU to calculate rotation angles of the input axle and output axle on a basis of sinusoidal wave signals and cosine wave signals derived from a steering angle sensor and a torque sensor. 1. A power steering system , comprising:a steering mechanism constituted by a steering shaft, the steering shaft including an input axle connected to a steering wheel and an output axle connected to the input axle via a torsion bar, and a conversion mechanism that converts a rotation of the steering shaft to a steering operation of steerable wheels;a steering angle sensor constituted by MR elements and arranged to output sinusoidal wave signals and cosine wave signals which are rotation angle information of the steering shaft;a torque sensor constituted by resolvers and arranged to output other sinusoidal wave signals and cosine wave signals which are at least rotation angle information of the output axle to detect a torque generated on the steering shaft using a relative angle between the input axle and output axle;an electrically driven motor that provides a steering assistance force for the steering mechanism;a first ECU having a single core microcomputer in which a single processor core is mounted within a single processor package;a steering angle signal receipt section installed in the first ECU to receive output signals from the steering angle ...

MOTOR CONTROLLER AND ELECTRIC POWER STEERING DEVICE USING THE SAME

Provided are a motor controller for suppressing a torque pulsation with a simple configuration and obtaining a sufficient output torque in the case of an open-type fault occurring in any one of windings of a motor and inverters, and an electric power steering device using the motor controller. In the motor controller for controlling a current supplied from and a voltage applied from a power source with respect to the motor including winding sets of a plurality of systems, when a fault determination unit () determines the occurrence of the open-type fault, the supply of the currents to the windings of one of the systems in which the fault has occurred is stopped by control performed on switching elements included in the inverter of the faulty system, whereas the supply of the currents to the windings of the normal system in which the fault has not occurred is continued. 1. A motor controller for controlling a current supplied from and a voltage applied from a power source with respect to a motor including a plurality of systems of winding sets , each of the winding sets including a plurality of phases of windings , the motor controller comprising:inverters of the plurality of systems, each of the inverters including a plurality of switching elements for controlling voltages applied to the respective plurality of phases of the winding sets of the plurality of systems, so as to control currents supplied from the power source to the respective plurality of phases of the winding sets of the plurality of systems; andcurrent control means for generating a plurality of sets of voltage commands corresponding to the applied voltages respectively for the inverters of the plurality of systems, so as to control the currents to be caused to flow in the respective plurality of phases of the winding sets of the plurality of systems, wherein:the current control means includes fault determination means for detecting one of disconnection of any one of wirings in the plurality of ...

MOTOR CONTROL DEVICE

A motor control device has characteristic information that indicates a correlation between a rotation speed and a current of a motor. The motor control device sets a rotation speed characteristic value that is a reference value of the rotation speed of the motor and a current characteristic value that is a reference value of the current of the motor on the basis of the characteristic information. The motor control device calculates an estimated rotation speed on the basis of a measured value of a voltage that is applied to the motor, a measured value of the current, the current characteristic value, a voltage characteristic value, the rotation speed characteristic value and a counter-electromotive force constant. 1. A motor control device that calculates an estimated speed value that is an estimated value of a rotation speed of a motor , comprisingthe motor control device has characteristic information that indicates a correlation between a rotation speed and a current as a characteristic of the motor,the motor control device sets a rotation speed characteristic value that is a reference value of the rotation speed of the motor and a current characteristic value that is a reference value of the current of the motor on the basis of the characteristic information, andthe motor control device calculates the estimated speed value on the basis of a current value that is a measured value of the current that is supplied to the motor, a voltage value that is a measured value of a voltage that is applied to the motor, the current characteristic value, a voltage characteristic value that is a reference value of the voltage of the motor, which is measured at a time when the current value is the current characteristic value, the rotation speed characteristic value and a counter-electromotive force constant.2. The motor control device according to claim 1 , wherein the motor control device has a map that indicates the correlation between the rotation speed and the current of the ...

Electric power steering device

An electric power steering device provides an appropriate power assist from the motor even when torque sensors have failed and the steering torque is no longer detected. If an error is detected in a torque sensor, the motor is driven based on the rotor rotation angle detected by a resolver and assist characteristics. When the absolute value of the rotor turning angle velocity calculated based on the rotor rotation angle falls to or below a prescribed value, a process is started for reducing the current driving the motor, and if the state in which the absolute value of the rotor turning angle velocity has fallen to or below the prescribed value continues over a prescribed length of time, the process for reducing the current is interrupted and, because an assist current was flowing at said time of interruption, an appropriate power assist can be given during a steering retention period.

ELECTRIC POWER STEERING APPARATUS

An assisting command value calculating unit calculates a first assisting factor on the basis of the value of a torque differential control volume added to a basic assist control volume based on a steering torque value, while increasing or decreasing, on the basis of an assisting gradient, the torque differential control volume based on a torque differential value. The pinion angle F/B control unit calculates a pinion angle command value, capable of being converted to a steering angle of the steering wheel, on the basis of the steering torque and the first assisting factor, and executes rotational angle feedback control. The assisting command value calculating unit calculates an assisting command value on the basis of the value of a second assisting factor, calculated by the pinion angle F/B control unit, added to the first assisting factor. 1. An electric power steering apparatus comprising a steering force assisting device and a control unit , whereinthe steering force assisting device comprises a motor as a drive source and applies assist force to a steering system,the control unit sets a basic component of the assist force based on steering torque transmitted to a steering shaft,the control unit increases/decreases a compensation component based on a change rate of the basic component relative to a change in the steering torque, and calculates a first assist component based on a value obtained by adding the compensation component to the basic component,the control unit calculates a rotation angle instruction value of a rotation shaft that can be converted into a turning angle of a turning wheel based on the steering torque and the first assist component,the control unit executes a rotation angle feedback control based on the rotation angle instruction value to calculate a second assist component, andthe control unit controls an actuation of the steering force assisting device based on an assist instruction value that is on a basis of a value obtained by adding ...

STEERING SYSTEM WITH OVERLOAD PROTECTION

A method for operating an electromechanical steering system for a motor vehicle with variable chassis height, 1. A method for operating an electromechanical steering system for a motor vehicle with variable chassis height , the electromechanical steering system including a steering rack , which is configured to be driven by a servo motor through a re-circulating ball screw drive and a control unit configured to receive input signals and to generate output signals for driving the servo motor , the output signals being representative of an assist torque to be provided by the steering system , the method including:receiving or generating, by the control unit, a chassis height signal indicative of a current chassis height of the vehicle, andlimiting the assist torque on the basis of the chassis height signal to an upper limit, wherein the upper limit is decreased with an increase of a difference between the current chassis height and a mean chassis height.2. The method of claim 1 , wherein limiting the assist torque is performed at least in part as a function of a speed of the vehicle.3. The method of claim 1 , further comprising reducing a support torque at low speeds.4. The method of claim 1 , wherein limiting the assist torque (T) is performed at least in part as a function of a displacement of the steering rack from a center position.5. The method of claim 1 , further including subjecting the servo motor to a motor current claim 1 , with a value that lies between a maximum current value claim 1 , calculated only on the basis of the steering torque at a steering wheel claim 1 , and a second current value limited on the basis of the chassis height signal claim 1 , a position of the steering rack and/or vehicle speed.6. The method of claim 10 , wherein the mean value is a weighted mean value claim 10 , wherein the weighting is applied on the basis of the vehicle speed.7. The method of claim 1 , further including:measuring or calculating a position of the toothed rack ...

ELECTRIC POWER STEERING APPARATUS

When a steering torque sensor fails, a time delay setting section calculates delayed lateral acceleration by delaying lateral acceleration. A lateral acceleration upper limit restricting section calculates restricted lateral acceleration by restricting the upper limit of the lateral acceleration by the delayed lateral acceleration. An assist torque calculation section calculates a target assist torque on the basis of the restricted lateral acceleration such that the target assist torque increases with the restricted lateral acceleration. Thus, it is possible to properly delay steering assist in relation to detection of the lateral acceleration, whereby slippage of a vehicle due to excessive turning of a steering wheel is suppressed. 1. An electric power steering apparatus comprising:a motor which is provided in a steering mechanism and generates steering assist torque;lateral acceleration obtaining means for obtaining lateral acceleration of a vehicle;delayed lateral acceleration setting means for setting delayed lateral acceleration by delaying the lateral acceleration obtained by the lateral acceleration obtaining means;restricted lateral acceleration setting means for setting restricted lateral acceleration by restricting the lateral acceleration, which is obtained by the lateral acceleration obtaining means, by using as an upper limit the delayed lateral acceleration set by the delayed lateral acceleration setting means;assist control quantity setting means for setting a target steering assist control quantity on the basis of the restricted lateral acceleration set by the restricted lateral acceleration setting means; andmotor control means for driving and controlling the motor in accordance with the target steering assist control quantity.2. An electric power steering apparatus according to claim 1 , further comprising delayed lateral acceleration restricting means for setting at least one of upper and lower limits of the delayed lateral acceleration.3. An ...

ELECTRONIC POWER STEERING APPARATUS

An electronic power steering apparatus for a vehicle having a steering mechanism to generate a steering assisting force includes: a steering angle sensor; a steering torque sensor; a target steering torque setting unit for setting a target steering torque based on the detected steering angle; a torque deviation computing unit for computing a torque deviation between the target steering torque and the detected steering torque; a first target current value computing unit for computing a first target current value for generating a steering assisting force by the motor based on the computed torque deviation; and a vehicle speed sensitivity adjusting unit that adjusts the first target current value, at least corresponding to a detected vehicle speed, and outputs the adjusted first current value as a second target current value. The motor control unit controls the motor to generate the steering assisting force based on the second target current value. 112-. (canceled)13. An electronic power steering apparatus that is applied to a vehicle having a steering mechanism , causes a motor to generate a steering assisting force with motor control unit , and transmits the steering assisting force to a steering system to cause a reduction in a steering force , comprising:a steering angle sensor for detecting a steering angle of a steering wheel;a steering torque sensor for detecting a steering torque of the steering wheel;a target steering torque setting unit configured to set a target steering torque on the basis of the steering angle detected by the steering angle sensor;a torque deviation computing unit configured to compute a torque deviation between the target steering torque set by the target steering torque setting unit and the steering torque detected by the steering torque sensor;a first target current value computing unit configured to compute a first target current value for generating a steering assisting force by the motor on the basis of the torque deviation computed ...

METHOD AND DEVICE FOR ADJUSTING AN INTERVENTION TORQUE OF A STEERING ASSISTANCE SYSTEM

A method for adjusting an intervention torque of a steering assistance system on a steering system of a vehicle in the context of a required lane change, the method encompassing a step of adapting a magnitude of the intervention torque in response to a detected marking that announces a lane merge in advance of a beginning of said merge. 110-. (canceled)11. A method for adjusting an intervention torque of a steering assistance system on a steering system of a vehicle in the context of a required lane change , the method comprising:adapting a magnitude of the intervention torque in response to a detected marking that announces a lane merge in advance of a beginning of the merge.12. The method as recited in claim 11 , further comprising:evaluating an image from a surroundings sensing device of the vehicle to detect the marking.13. The method as recited in claim 12 , wherein the marking is a directional arrow claim 12 , and wherein the evaluating includes classifying the directional arrow.14. The method as recited in claim 11 , wherein the intervention torque serves to guide the vehicle on a target trajectory in a current lane of the vehicle claim 11 , and wherein claim 11 , in the adapting step claim 11 , a course of the target trajectory is brought closer to an adjacent lane that is being merged with the current lane in the context of the lane merge.15. The method as recited in claim 11 , wherein the adapting step includes adapting the intervention torque as a function of a look-ahead range of a device for detecting a beginning of the lane merge.16. The method as recited in claim 15 , wherein the adapting step includes reducing the magnitude of the intervention torque by a predetermined value within a predetermined time period if the look-ahead range is shorter than a predetermined minimum range.17. The method as recited in claim 15 , wherein the adapting step includes continuously adapting the magnitude of the intervention torque with a distance from the beginning of ...

ELECTRIC POWER STEERING APPARATUS AND METHOD CONTROLLING THE SAME

The present invention relates to a technology for controlling an electric power steering apparatus. According to the present invention, a difference in steering feeling according to a change of a mechanical characteristic of an electric power steering apparatus can be corrected so that the sense of difference in steering felt by a driver when using the steering apparatus can be minimized and the reliability in relation to the apparatus can be enhanced. 1. An electric power steering apparatus comprising:a steering angle use frequency confirmation unit configured to confirm a use frequency value corresponding to a steering angle value received from a steering wheel sensor based on a steering angle use frequency graph stored in advance;a cumulative time calculation unit configured to calculate a cumulative operating time of the electric power steering apparatus;a compensating torque calculation unit configured to calculate a compensating torque based on the use frequency value and the cumulative operating time; anda drive control unit configured to calculate a target torque, to apply the compensating torque to the target torque, and to apply the target torque applied compensating torque to a motor.2. The electric power steering apparatus of claim 1 , further comprising:a reduced amount of friction calculation unit configured to calculate a reduced amount of friction based on the use frequency value and the cumulative operating time and to transmit the calculated reduced amount of friction to the compensating torque calculation unit.3. The electric power steering apparatus of claim 2 , wherein the reduced amount of friction calculation unit calculates in such a manner that the shorter the cumulative use time claim 2 , the more the reduced amount of friction is increased for the same steering angle value or steering angle range.4. A method of controlling an electric power steering apparatus claim 2 , comprising:sensing a steering angle and confirming a cumulative ...

Vehicle steering device

The present invention provides a vehicle steering device, comprising: a manual steering means for manually steering steerable wheels in a vehicle; a steering-torque detection means for detecting a steering torque applied to the manual steering means; a first electromotive-torque determination means for determining a first electromotive-torque value based on the detected steering torque; a vehicle-behavior detection means for detecting behavior of the vehicle; a second electromotive-torque determination means for determining a second electromotive-torque value based on a detected value obtained by the vehicle-behavior detection means; an electric motor for applying a combined electromotive torque to the steerable wheels; and a current control means for controlling current supplied to the electric motor based on a value of the combined electromotive torque obtained by adding the first electromotive-torque value to the second electromotive-torque value.

MOTOR CONTROL DEVICE AND ELECTRIC POWER STEERING DEVICE USING SAME

Provided are a motor control device () for controlling a motor () having a plurality of phases, for quickly and accurately detecting a phase in which an open-state fault has occurred when the open-state fault occurs in a target phase. When a power-supply voltage (Vb) is equal to or higher than a predetermined voltage (Vthr), a motor rotation speed (ω) is equal to or lower than a predetermined speed (ωthr), a target x-phase voltage command (Vx*) is not in the vicinity of zero, a current (Ix) of the target x-phase is equal to or lower than a predetermined current (Iu_thr), and a state in which a control error is equal to or larger than a predetermined error is detected over a predetermined time period or longer, occurrence of an open-state fault in the target phase is determined. 1. A motor control device for controlling a current and an applied voltage to a motor having a plurality of phases , comprising:an inverter for supplying electric power from a power supply to the motor;current control means for generating a voltage command in accordance with a current command to control the current to the motor;an inverter driving circuit for driving the inverter in accordance with the voltage command to control the applied voltage to the motor; andfault detecting means for detecting a fault occurrence state based on the voltage command, a power-supply voltage of the power supply, a motor rotation speed of the motor, and currents in the plurality of phases,wherein when the power-supply voltage is equal to or higher than a predetermined voltage,when the motor rotation speed is equal to or lower than a predetermined speed,when a voltage command in a target phase is not in a vicinity of zero,when a phase current of the target phase is equal to or lower than a predetermined current, andwhen a state in which a control error with respect to the current command or the voltage current is equal to or larger than a predetermined error is detected over a predetermined time period or ...

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes a motor control device that controls driving of a motor based on an assist command value, the motor applying assist torque to a steering mechanism. The motor control device computes a first assist component based on steering torque and a vehicle speed. The motor control device computes a second assist component based on the steering torque and the first assist component. The motor control device computes the assist command value by adding the second assist component to the first assist component. The motor control device includes a road information compensation portion that adjusts the second assist component contained in the assist command value. A basic assist component computation portion computes the first assist component in accordance with a degree of adjustment of the second assist component. 1. An electric power steering system comprising:an assist mechanism that applies assist torque from a motor to a vehicle steering mechanism; anda control portion that controls driving of the motor based on an assist command value,wherein the control portion includes:a first assist component computation portion that computes a first assist component based on steering torque transmitted to the vehicle steering mechanism;a steered angle command value computation portion that computes a steered angle command value, which serves as a target value of a steered angle of steered wheels, based on the steering torque;a second assist component computation portion that computes a second assist component by performing steered angle feedback control that matches the steered angle of the steered wheels with the steered angle command value;an assist command value computation portion that computes the assist command value based on a value obtained by adding the second assist component to the first assist component; andan adjusting portion that adjusts an absolute value of the second assist component contained in the assist command value so that ...

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes a motor control device that controls, based on an assist command value, driving of a motor that gives an assist torque to a steering mechanism. The motor control device computes a first assist component based on a steering torque and a vehicle speed. A steered-angle command value is computed based on the steering torque and the first assist component, and a second assist component is computed by performing a feedback control that matches the steered angle with the steered-angle command value. The motor control device adds the second assist component to the first assist component so as to compute an assist command value. The motor control device includes a road information compensation portion that decreases an absolute value of the second assist component included in the assist command value when a skid is detected by a vehicle state detecting portion. 1. An electric power steering system comprising:an assist mechanism that gives an assist torque from a motor to a vehicle steering mechanism;a control portion that controls driving of the motor based on an assist command value; anda vehicle state detecting portion that detects a skid of the vehicle, wherein a first assist component computing portion that computes a first assist component based on a steering torque transmitted to the vehicle steering mechanism;', 'a steered-angle command value computing portion that computes, based on the steering torque, a steered-angle command value that serves as a target value for a steered angle of steered wheels;', 'a second assist component computing portion that computes a second assist component by performing a steered-angle feedback control that matches the steered angle of the steered wheels with the steered-angle command value;', 'an assist command value computing portion that computes the assist command value based on a value obtained by adding the second assist component to the first assist component; and', 'an adjustment portion ...

TORQUE SENSOR AND POWER STEERING SYSTEM USING THE TORQUE SENSOR

Torque sensor detects torque of steering shaft formed by first and second shafts which are connected through torsion bar. Torque sensor has: a magnetic member provided at the first shaft and having magnetic poles alternately arranged in circumferential direction concentrically with rotation axis; a first yoke member provided at the second shaft and having (a) first nail portions arranged concentrically with the rotation axis and facing the magnetic member in radial direction and (b) a first ring portion; a second yoke member provided at the second shaft and having (c) second nail portions arranged concentrically with the rotation axis so that the first and second nail portions are alternately arranged in the circumferential direction and the second nail portions face the magnetic member in the radial direction and (d) a second ring portion arranged to be separated from and face the first ring portion; and a magnetic sensor. 1. A torque sensor detecting a torque generated in a rotation member that is formed by a first shaft member and a second shaft member both of which are connected through a torsion bar , the torque sensor comprising:a magnetic member provided at the first shaft member so as to rotate integrally with the first shaft member and having different magnetic poles that are alternately arranged in a circumferential direction concentrically with a rotation axis of the rotation member; (a) a plurality of first nail portions that are arranged concentrically with the rotation axis so as to face the magnetic member in a radial direction of the rotation axis; and', '(b) a first ring portion that connects the first nail portions together,, 'a first yoke member formed by magnetic material and provided at the second shaft member so as to rotate integrally with the second shaft member, the first yoke member having;'} (c) a plurality of second nail portions that are arranged concentrically with the rotation axis in such a way that the first nail portions and the ...

Torque sensor and power steering system using the torque sensor

Torque sensor has: magnetic member; first yoke member having (a) first nail portions arranged concentrically to face the magnetic member in radial direction and (b) first ring portion; second yoke member having (c) second nail portions arranged concentrically so that the first and second nail portions are circumferentially alternately arranged and the second nail portions face the magnetic member in radial direction and (d) second ring portion; first magnetic flux concentration ring provided between the first and second ring portions; second magnetic flux concentration ring provided between the second ring portion and the first magnetic flux concentration ring; and magnetic sensor. The first and second magnetic flux concentration rings and the first and second ring portions are arranged in layers in radial direction. A part or all of axial direction area of the first and second magnetic flux concentration rings is surrounded and shielded by the second ring portion.

RELATIVE ROTATIONAL ANGULAR DISPLACEMENT DETECTION DEVICE, TORQUE DETECTION DEVICE, TORQUE CONTROL DEVICE, AND VEHICLE

A permanent magnet includes magnetic poles that are arranged so as to alternate in polarity in the circumferential direction of the axis of rotation. The magnet is attached to one of a pair of rotatable members. The rotatable members are relatively rotatable about an axis of rotation. A magnetic flux inducing ring, including an annular ring body and a plurality of protrusions protruding from the ring body, is attached to the other rotatable member. A plurality of magnetic sensors is arranged adjacent to the ring body. A first facing portion and a second facing portion, each for inducing a part of a magnetic flux of the ring body, are provided and do not rotate with the permanent magnet and the magnetic flux inducing ring. 1. A relative rotational angular displacement detection device , comprising:a pair of rotatable members rotatable by 360 degrees around an axis of rotation, the rotatable members being rotatable relative to each other around the axis of rotation in a circumferential direction;a permanent magnet attached to a first of the pair of rotatable members so as to rotate with the first rotatable member, the permanent magnet including magnetic poles arranged so as to alternate in polarity along the circumferential direction; an annular ring body attached to a second of the pair of rotatable members so that the magnetic flux inducing ring rotates with the second rotatable member, the annular ring body arranged coaxially with the axis of rotation, and', 'a plurality of protrusions protruding from the ring body and arranged so as to face the magnetic poles in a magnetization direction of the permanent magnet,', 'the ring body being magnetized and having a strength of magnetization that changes depending on positions of the protrusions relative to positions of the magnetic poles; and, 'a magnetic flux inducing ring including'} a first facing portion arranged to face a first part of the ring body to form a first magnetic flux path with the first part of the ring ...

ELECTRIC POWER STEERING SYSTEM

A target pinion angle computation unit computes a target pinion angle on the basis of a basic assist component and a steering torque, and computes the target pinion angle so as to rapidly increase a steering reaction force when it is determined based on the target pinion angle that a rack shaft of a rack-and-pinion mechanism reaches a position near a limit of a movable range of the rack shaft. In an. EPS, a correction component for the basic assist component, which is necessary to increase the steering reaction force rapidly, is computed through execution of PID control for causing an actual pinion angle to coincide with the target pinion angle. Because the correction component is added to the basic assist component, the steering reaction force is increased rapidly when the rack shaft reaches the position near the limit of the movable range. 1. An electric power steering system including a motor that is a source of generation of a steering assist force that is applied to a steering mechanism of a vehicle , and a control device that controls the motor in response to a vehicle steering operation , the steering mechanism including a rack-and-pinion mechanism , wherein:the control device includes a first computation unit that computes a base control component of the steering assist force to be applied to the steering mechanism on the basis of at least steering torque, and a second computation unit that computes a correction control component for the base control component through feedback control for causing an actual rotation angle of a rotary shaft that rotates in accordance with a steered angle of a steered wheel, to coincide with a target rotation angle computed on the basis of at least the steering torque; andthe second computation unit computes the correction control component after restraining an increase in at least a magnitude of the steering torque used for computation of the target rotation angle so that the steering reaction force is increased rapidly when ...

ELECTRONIC POWER STEERING APPARATUS

When only one of sensor signals generated by the plural systems and output from a torque sensor is normal, a control variable restriction processing part performs an assist restricting process for setting an upper limit value and a lower limit value of a basic assist control variable in accordance with at least one of the lateral acceleration, the steering angle, the steering speed, or the yaw rate. 1. An electronic power steering apparatus comprising:a steering force assist device having a motor as a drive source, wherein the steering force assist device applies an assist force to a steering system of a vehicle;a torque sensor for outputting sensor signals generated by a plurality of systems based on torsion of a torsion bar provided in a steering shaft;a vehicle speed sensor for detecting a vehicle speed;a torque calculation section for detecting a steering torque based on the sensor signals outputted from the torque sensor; anda control section for controlling the steering force assist device, for calculating an assist control variable based on the steering torque and the vehicle speed, and for executing an assist control for applying an assist force based on the assist control variable to the steering system; whereinupon detection that only one of the sensor signals generated by the plurality of systems is normal, the control section executes an assist restriction process for setting an upper limit value and a lower limit value of the assist control variable according to at least any one of the lateral acceleration, steering angle, steering speed and yaw rate.2. The electronic power steering apparatus according to claim 1 , whereinthe control section executes the assist restriction process based on a map.3. The electronic power steering apparatus according to claim 1 , whereinthe control section executes the assist restriction process when the vehicle speed is higher than or equal to a predetermined speed.4. The electronic power steering apparatus according to ...

Electrically Driven Power Steering System

In an electrically driven power steering system having a blushless three phase motor, an abnormality of a control unit is detected on a basis of a direct current bus bar current of an inverter detected by a current sensor and an estimated primary current. The estimated primary current is calculated from, for example, the following equation, namely, Iu×Du+Iv×Dv+Iw×Dw)/100%, wherein Iu denotes a current of a U phase of the motor, Du denotes a PWM duty signal of the U phase, Iv denotes a current of a V phase of the motor, Dv denotes the PWM duty signal of the V phase of the motor, Iw denotes a current of a W phase of the motor, and Dw denotes the PWM duty signal of the W phase. 1. An electrically driven power steering system , comprising:a steering mechanism that steers steerable wheels along with a steering operation of a steering wheel;a motor providing a steering force for the steering mechanism;a control unit drivingly controlling the motor;a command signal calculating section disposed in the control unit to calculate a vector control command signal for drivingly controlling the motor in accordance with a driving situation of a vehicle;a two-phase to three-phase converting section disposed in the control unit to convert the vector control command signal into a voltage command signal for each phase of the motor;a PWM control section disposed in the control unit to output a PWM duty signal (Du, Dv, Dw) of each phase of the motor in accordance with the voltage command signal of a corresponding one of the phases of the motor;an inverter, disposed in the control unit, constituted by a switching circuit controlled by means of the PWM duty signals (Du, Dv, Dw), and drivingly controlling the motor;a current sensor disposed in a direct current bus bar of the inverter to detect a direct current bus bar current;a phase current detecting section disposed in the control unit to detect or estimate a current value Iu, Iv, Iw of each phase of the motor on the direct current bus ...

VEHICLE STEERING ASSIST DEVICE

A vehicle steering assist device includes a first detector to detect steering torque by a driver's steering wheel operation, a first calculator to calculate assist steering torque for the detected steering torque, a second calculator to calculate target steering torque to perform steering control, a controller to switch the first calculator from an active state to an inactive state to limit an output of the assist steering torque when the second calculator is in an active state, an EPS torque setter to set EPS torque to drive an EPS motor based on outputs from the second calculator and the controller, and a second detector to detect a driver's holding state of a steering wheel. Even when the second calculator is in the active state, when the second detector detects that a driver holds the steering wheel, the controller switches the first calculator from the inactive state to the active state. 1. A vehicle steering assist device comprising:a steering torque detector configured to detect steering torque by a driver's steering wheel operation;an assist steering torque calculator configured to calculate assist steering torque for the steering torque detected by the steering torque detector;a target steering torque calculator configured to calculate target steering torque to perform steering control independent of the driver's steering wheel operation;an assist steering torque output controller configured to switch the assist steering torque calculator from an active state to an inactive state to limit an output of the assist steering torque when the target steering torque calculator is in an active state;an electric power steering (EPS) torque setter configured to set EPS torque to drive an EPS motor on a basis of an output from the target steering torque calculator and an output from the assist steering torque output controller; anda steering wheel hold detector configured to detect a driver's holding state of a steering wheel, whereineven when the target steering ...

HYDROSTATIC STEERING ARRANGEMENT

A steering arrangement for a vehicle includes: 1101. A steering arrangement () for a vehicle () comprising:{'b': 65', '80', '85', '70', '75', '95', '80', '85', '70', '90', '120', '125, 'a hydrostatic steering unit () provided with two work ports (,), a high-pressure port (), a low-pressure port (), a main branch of the flow () arranged between the work ports (,) and the high-pressure port () and comprising a dosing device (), and an amplification branch () arranged between the work ports and the high-pressure port, in parallel to the dosing device, and comprising a flow-rate regulating device () of the electrically actuated type,'}{'b': 60', '55', '65, 'a steering shaft () provided with a first end adapted for being connected to a steering member () and a second end adapted for being connected to the hydrostatic steering unit (),'}{'b': 185', '60, 'an electric motor () configured to set the steering shaft () in rotation, and'}{'b': 220', '125, 'an electronic control unit () configured to actuate the flow-rate regulating device () as a function of a parameter indicative of an operating condition of the vehicle.'}2101251202201251. The steering arrangement () according to claim 1 , wherein the flow-rate regulating device () is configured to regulate the flow rate in the amplification branch () within a range of flow rate values comprised between a minimum flow rate value in the amplification branch and a maximum flow rate value in the amplification branch claim 1 , and the electronic control unit () is configured to actuate the flow-rate regulating device () along said range as a function of a parameter indicative of an operating condition of the vehicle ().310220185160. The steering arrangement () according to claim 1 , wherein the electronic control unit () is configured to actuate the electric motor () as a function of the parameter indicative of an operating condition of the vehicle () so as to provide a haptic feedback to the user through a torque generated on the ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus including: a steering angle control section that calculates a motor current command value and a switching section that inputs the motor current command value to switch. The steering angle control section has a feedback control section that generates a feedback control current command value; an SAT compensating section that generates an SAT compensation current command value; and an output section that generates the motor current command value from the feedback control current command value and the SAT compensation current command value. The switching section is switched depending on a switching command of an automatic steering mode and a manual steering mode, a motor is drive-controlled based on the motor current command value in the automatic steering mode. 19-. (canceled)10. An electric power steering apparatus that calculates a first motor current command value based on a steering torque and a vehicle velocity , performs an assist control of a steering system by driving a motor based on said first motor current command value , and has a function for switching between an automatic steering mode and a manual steering mode , comprising:a steering angle control section that calculates a second motor current command value based on a target steering angle, an actual steering angle, a motor angular velocity and a motor angular acceleration of said motor, said steering torque and a previous time current command value; and [ a feedback control section that generates a feedback control current command value based on said target steering angle, said actual steering angle, said motor angular velocity and said steering angle;', 'an SAT compensating section that generates an SAT compensation current command value based on said motor angular velocity, said motor angular acceleration, said steering torque and said previous time current command value; and', 'an output section that generates said second motor current command value from said ...

STEERING CONTROL DEVICE, AND STEERING CONTROL METHOD

Provided are a steering control device and a steering control method therefor, which reduce a steering feeling of discomfort due to a pulsed change (short abrupt change) in steering assist torque caused when control such as steering wheel return control is turned on/off, and which acquire a sufficient control effect even when high control response is required, by reducing a fluctuation in steering assist torque caused when one steering assist torque is selected from two or more steering assist torques by low-pass filtering, and by correcting the low-pass filtering depending on a change amount of the selected steering assist torque. 1. A steering control device , comprising:an actuator for applying a steering assist torque to a steering system of a vehicle;a steering state determination section for determining a steering state of a driver;a steering assist torque calculation section for calculating the steering assist torque;a steering assist torque correction section for correcting the steering assist torque depending on a result of the steering state determination section; andan actuator control section for controlling the actuator depending on the corrected steering assist torque,wherein the steering assist torque calculation section calculates at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque, a switch section for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and', 'a filtering section for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques,, 'wherein the steering assist torque correction section compriseswherein ...

LOAD CONTROL DEVICE, ELECTRIC POWER STEERING DEVICE, AND METHOD FOR CONTROLLING LOAD CONTROL DEVICE

A load control device includes a load control means that drives a load, a current detection resistor, a differential amplifier and a current calculation means. The load control means can switch between a standby state a drive state, a state in which a first of the switching elements is turned ON and a second of the switching elements is turned OFF and a state in which the first of the switching elements is turned OFF and the second of the switching elements is turned ON being alternately repeated in the standby state, in which both of the switching elements are turned ON in the drive state. The current calculation means calculates a current that flows to the current detection resistor on the basis of a value output from the differential amplifier in the drive state and an offset value output from the differential amplifier in the standby state. 1. A load control device comprising:a load control means configured to ON/OFF operate switching elements on the basis of a PWM signal, the switching elements being interposed in each of an upper arm and a lower arm that connect a power source and a load;a current detection resistor connected in series with the load;a differential amplifier configured to amplify and output a voltage generated in the current detection resistor; anda current calculation means configured to calculate a current flowing to the current detection resistor on the basis of an output value of the differential amplifier,wherein the load control means is configured to switch between a standby state and a drive state, a state in which a first of the switching elements is turned ON and a second of the switching elements is turned OFF and a state in which the first of the switching elements is turned OFF and the second of the switching elements is turned ON being alternately repeated in the standby state, in which both of the switching elements being turned ON to cause a current to flow to the load in the drive state, andthe current calculation means is ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus for generating a PWM signal based on a calculated steering assist command value, PWM-controlling a motor via a motor drive circuit including switching elements, and assist-controlling a steering system that a motor relay is inserted between the motor drive circuit and the motor, comprises a steering status detecting section that detects a steering status of a steering wheel, outputs a longtime steering holding signal when detecting that the steering status is a longtime steering holding status, and outputs a normal steering signal when detecting that the steering status is a normal steering status, and a motor current control section that determines a motor current control value for controlling a motor current flowing in the motor relay in accordance with the longtime steering holding signal or the normal steering signal. 1. An electric power steering apparatus for calculating a steering assist command value based on a steering torque and a velocity , generating a PWM signal based on said steering assist command value , PWM-controlling a motor via a motor drive circuit comprised of switching elements , and assist-controlling a steering system that an electromagnetic type motor relay is inserted between said motor drive circuit and said motor , comprising:a steering status detecting section that detects a steering status of a steering wheel, outputs a longtime steering holding signal when detecting that said steering status is a longtime steering holding status, and outputs a normal steering signal when detecting that said steering status is a normal steering status, anda motor current control section that determines a motor current control value for controlling a motor current flowing in said electromagnetic type motor relay in accordance with said longtime steering holding signal or said normal steering signal that is outputted from said steering status detecting section,wherein said steering status detecting section detects a ...

Steering control device, and steering control method

Provided are a steering control device and the like, including the steps of: calculating a steering assist torque to be applied to an actuator for applying the steering assist torque to a steering system of a vehicle in order to improve return characteristics of the steering system; determining a steering state of a driver; correcting the steering assist torque depending on a result of the steering state determination; and controlling the actuator depending on the corrected steering assist torque, in which the step of determining a steering state of a driver includes determining the steering state of the driver based on a combination of at least two of the following: a manually-operating steering state determination; an abrupt steering wheel return determination; a high-acceleration steering wheel return determination; a manual return steering determination; and an additional-steering determination.

POWER STEERING DEVICE

A power steering apparatus includes: a steering load average value calculating circuit which calculates a steering torque average value Trav which is the average value of steering torque Tr within a predetermined interval of time; and an abnormality detection circuit which compares steering torque average value Trav with a specified steering torque value Trrf and detects the abnormality of the apparatus when steering torque average value Trav is larger than the specified value. 1. A power steering apparatus comprising:a steering mechanism formed of an iron-series metallic material and which steers steerable wheels in accordance with a steering operation of a steering wheel;an electrically driven motor which provides a steering force for the steering mechanism;a speed reduction mechanism formed of the iron-series metallic material, interposed between the steering mechanism and the electrically driven motor, and which transmits a revolution force of the electrically driven motor to the steering mechanism;a torque sensor which detects a steering torque generated in the steering mechanism;a control unit which calculates a motor command current drivingly controlling the electrically driven motor on a basis of the steering torque and outputs the motor command current to the electrically driven motor;a steering load average value calculating circuit installed in the control unit and which calculates an average value of a steering load corresponding value which corresponds to any one of the steering torque within a predetermined interval of time, the motor command current, and a motor actual current actually flowing through the electrically driven motor; andan abnormality detection circuit installed in the control unit, which compares the average value of the steering load corresponding value with a specified value stored in the control unit, and detects an abnormality of the apparatus when the average value is larger than the specified value.2. The power steering apparatus ...

ELECTRIC POWER STEERING CONTROL DEVICE

There is provided a correcting mechanism (a vibration suppression torque generator, an adder) to correct a motor torque set by an assist map by using a vibration-suppression gain outputted by a filter processor so as to suppress the shimmy. The above-described filter processor includes a vibration extracting filter which has a frequency characteristic that a gain becomes a peak (maximum magnitude) at a cut-off angle frequency and a phase advances by 90° at the cut-off angle frequency and a gain adjustor to vary the cut-off angle frequency of the vibration extracting filter in accordance with a tire rotation frequency which is changeable according to a vehicle speed. 1. An electric power steering control device , comprising:a motor to apply an assist torque to a steering device;a torque detector to detect a steering torque applied by a driver;a setting mechanism to set a motor torque to be outputted to the motor based on the steering torque detected by the torque detector;a rotational angle detector to detect a rotational angle of the motor;a filter processor to output a vibration-suppression gain for suppressing a vibration due to a tire rotation by performing a filter processing on the rotational angle detected by the rotational angle detector; anda correcting mechanism to correct the motor torque set by the setting mechanism by using the vibration-suppression gain outputted by the filter processor so as to suppress the vibration due to the tire rotation,wherein said filter processor is configured to include a vibration extracting filter which has a frequency characteristic that a gain becomes a specified magnitude at a cut-off angle frequency and a phase advances by 90° at the cut-off angle frequency and to vary said cut-off angle frequency of the vibration extracting filter in accordance with a tire rotation frequency which is changeable according to a vehicle speed.2. The electric power steering control device of claim 1 , wherein said cut-off angle frequency is ...

ELECTRIC POWER STEERING CONTROL DEVICE

Filters output a vibration-suppression gain for suppressing resonance of a sub frame or shimmy by performing a filter processing on a rotational angle of a motor. The filters have respective frequency characteristics that a gain becomes a maximum magnitude and a phase advances by 90° at a cut-off angle frequency. The cut-off angle frequency of the filter is fixedly set at a resonance frequency of the sub frame. The cut-off angle frequency of the filter is variably set in accordance with a tire rotation frequency. A gain adder adds the respective gains of the filters and outputs an added magnitude to a correcting mechanism as a vibration-suppression gain. The correcting mechanism corrects a motor torque set by an assist map by using the vibration-suppression gain outputted by the gain adder. 1. An electric power steering control device , comprising:a motor to apply an assist torque to a steering device;a torque detector to detect a steering torque applied by a driver;a setting mechanism to set a motor torque to be outputted to the motor based on the steering torque detected by the torque detector;a rotational angle detector to detect a rotational angle of the motor;a filter processor to output a vibration-suppression gain for suppressing resonance of a vehicle-body member and a vibration due to a tire rotation by performing a filter processing on the rotational angle of the motor detected by the rotational angle detector; anda correcting mechanism to correct the motor torque set by the setting mechanism by using the vibration-suppression gain outputted by the filter processor so as to suppress resonance of the vehicle-body member and the vibration due to the tire rotation,wherein said filter processor comprises a first filter which has a frequency characteristic that a gain becomes a specified magnitude and a phase advances by 90° at a cut-off angle frequency which is fixedly set at a resonance frequency of a specified vehicle-body member,a second filter which has ...

Rotating electric machine control device

A rotating electric machine control device includes a first system controller and a second system controller, an overheat protection controller and an abnormality detector. The overheat protection controller includes a temperature estimator and a restricted current calculator. The temperature estimator estimates system temperatures as well as other temperature, including a shared component temperature of a shared component that is connected to both of plural systems in a shared manner. The restricted current calculator calculates restricted current values, based on the system temperatures and the shared component temperature. At least one of the system temperatures, the shared component temperature, and/or the restricted current values is changed from an all-systems normal time, when at least one of a plurality of systems is abnormal.

STEERABLE VEHICLE

A steerable, self-propelled vehicle includes a rotatable steering column that is connected to control the steering angle of one or more ground-engaging members of the vehicle. The vehicle includes between the steering column and the ground-engaging member a first steering servomechanism having at least a first steering assistance characteristic; a second steering servomechanism having a second steering assistance characteristic also being connected to act on the steering column. A controller is provided for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more one or more control commands generated in the controller. 1. A steerable , self-propelled vehicle including an agricultural tractor , the steerable self-propelled vehicle comprising: a first steering servomechanism acting on the steering mechanism in a first location, the first steering servomechanism having at least a first steering assistance characteristic;', 'a second steering servomechanism acting on the steering mechanism in a second location, the second servo mechanism having a second steering assistance characteristic; and', 'a programmable controller for causing the first and second steering assistance characteristics to influence the steering of the vehicle in dependence on one or more control commands generated in the controller; and, 'a steering mechanism having a rotatable steering column that is connected to control a steering angle of one or more ground-engaging members of the vehicle, the vehicle including'}a human-machine interface (HMI) configured to receive driver input commands selecting two or more programmed modes of operation of the steering servomechanisms,wherein the HMI includes respective switches for selecting between programmed modes that control steering during movement of the tractor respectively in a field headland and in other locations, and sequentially selecting sub-modes following selection of a ...

CONTROL APPARATUS OF SELF-DRIVING VEHICLE

A control apparatus of a self-driving vehicle with a self-driving capability including a slip detector detecting a slip generated at four drive wheels, a direction detector detecting a direction of a vehicle body, and a microprocessor and a memory. The microprocessor is configured to perform: calculating target torques of the four drive wheels in accordance with an action plan; correcting the target torques so as to decrease the target torque of the first drive wheel when the slip of the first drive wheel is detected, and thereafter so as to increase the target torque of the second drive wheel and decrease the target torque of the fourth drive wheel when a deviation of the detected direction from a target traveling direction is greater than or equal to a predetermined deviation; and controlling a driving part in accordance with the corrected target torque. 1. A control apparatus of a self-driving vehicle with a self-driving capability , the self-driving vehicle including a driving part configured to individually drive four drive wheels in a front and rear direction and a left and right direction , the four drive wheels being a first drive wheel , a second drive wheel on a same side of the first drive wheel in the left and right direction and on an opposite side of the first drive wheel in the front and rear direction , a third drive wheel on an opposite side of the first drive wheel in the left and right direction and on a same direction of the first drive wheel in the front and rear direction , and a fourth drive wheel on the opposite side of the first drive wheel in the left and right direction and on the opposite side of the first drive wheel in the front and rear direction ,the apparatus comprising:a slip detector configured to detect a slip generated at each of the four drive wheels;a direction detector configured to detect a direction of a vehicle body of the self-driving vehicle; andan electronic control unit having a microprocessor and a memory, whereinthe ...

ELECTRIC POWER STEERING DEVICE

A shortening of an initial diagnosis time is achieved, even after an elapse of a predetermined delay time from an ignition switch being switched to an off-state. After the ignition switch is switched to an off-state after an operation of a control device, which drives an electric motor that applies steering assistance force to a steering system, diagnosis of a power supply circuit that supplies power to the control device is carried out, and a diagnosis item to be implemented in a succeeding initial diagnosis is determined based on a result of the diagnosis. 1. An electric power steering device , comprising:a steering assistance mechanism including an electric motor that applies a steering assistance force to a steering system; anda control device that drives the electric motor, wherein the control device includesan arithmetic processing device that carries out an initial diagnosis including a diagnosis of power interruption means of the control device at least when an ignition switch is switched to an on-state, causes the control device to operate when a result of the initial diagnosis is that there is no impediment to an operation of the control device, carries out a diagnosis of the power interruption means after the ignition switch is switched to an off-state after the control device operates, and determines a diagnosis item to be implemented in a succeeding initial diagnosis based on a result of the diagnosis.2. The electric power steering device according to claim 1 , wherein the arithmetic processing device carries out a diagnosis of the power interruption means after the ignition switch is switched to an off-state after the control device operates claim 1 , and when a result of diagnosing the power interruption means is normal when the ignition switch is switched to an on-state again after stopping steering assistance control and stopping a system claim 1 , implements an initial diagnosis for diagnosis items other than a diagnosis item accompanying ...

ELECTRIC POWER STEERING SYSTEM WITH UNIFORM ARCHITECTURE FOR MULTIPLE OPERATING MODES

Technical solutions are described for facilitating an electric power steering (EPS) system for providing a motor torque assist command. An example EPS system includes a first module configured to generate a regulation signal or a tuning signal based on a mode of operation of the eps system. The EPS system further includes a second module configured to generate a stability signal irrespective of the mode of operation of the eps system. The EPS system further includes a blending module configured to combine the stability signal with either the regulation signal or the tuning signal to generate an assist motor torque signal for the eps system. 1. An electric power steering (EPS) system for providing a motor torque assist command , the EPS system comprising:a first module configured to generate a regulation signal or a tuning signal based on a mode of operation of the EPS system;a second module configured to generate a stability signal irrespective of the mode of operation of the EPS system; anda blending module configured to combine the stability signal with either the regulation signal or the tuning signal to generate an assist motor torque signal for the EPS system.2. The electric power steering (EPS) system of claim 1 , wherein the mode of operation of the EPS system is one from a group consisting of a position control mode claim 1 , a torque control mode claim 1 , and a velocity control mode.3. The electric power steering (EPS) system of claim 1 , wherein the second module generates the stability signal based on handwheel torque claim 1 , assist motor position claim 1 , and assist motor velocity.4. The electric power steering (EPS) system of claim 1 , wherein the first module further comprises:a torque control mode module;a velocity control mode module;a position control mode module; anda state handler module that, based on the mode of operation, activates at least one of the torque control mode module, the velocity control mode module, and the position control ...

STEERING SYSTEM FOR VEHICLE AND METHOD OF CONTROLLING SAME

A steering system for a vehicle may include first and second steering motors providing torque; a rack bar to which torques of the first and second steering motor are simultaneously applied, and configured to change steering angles of wheels by being displaced by the rotation of the first and second steering motors; first and second motor position detectors detecting rotation angles of the first and second steering motors, respectively; and a controller deriving an absolute position of the rack bar based on a difference between the rotation angles of the first and second steering motors detected by the first and second motor position sensors, wherein an amount of displacement of the rack bar according to an amount of rotation of the first steering motor is different from an amount of displacement of the rack bar according to an amount of rotation of the second steering motor. 1. A steering system for a vehicle , the system comprising:first and second steering motors providing torque;a rack bar to which a torque of the first steering motor and a torque of the second steering motor are simultaneously applied, and configured to change steering angles of wheels by being displaced by rotation of the first and second steering motors;first and second motor position detectors detecting rotation angles of the first and second steering motors, respectively; anda controller deriving an absolute position of the rack bar based on a difference between the rotation angles of the first and second steering motors detected by the first and second motor position sensors,wherein an amount of displacement of the rack bar according to an amount of rotation of the first steering motor is different from an amount of displacement of the rack bar according to an amount of rotation of the second steering motor.2. The system of claim 1 , wherein each of the first and second motor position detectors detects a relative rotation angle of a rotation shaft of each of the first and second steering ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus that has a function to switch an assist mode and an automatic mode, and comprises a handle vibration removing section to cut off frequency components near a predetermined central frequency with reference to a target steering angle, a position control section to output a motor angular velocity command value, an integration section to integrate a deviation between the motor angular velocity command value and a motor angular velocity, a proportion section to input the motor angular velocity, and a velocity control section to output the motor current command value by subtracting an output of the proportion section from an output of the integration section, thereby to remove the vibration being caused by spring characteristics of a torsion bar and inertia moment of a steering wheel in the automatic mode. 114-. (canceled)15. An electric power steering apparatus that has an assist mode which controls a motor applying an assist torque to a steering system of a vehicle when steering said steering system and an automatic mode which controls said motor depending on a target steering angle supplied from said vehicle as needed when said vehicle autonomously runs , comprising:a torque control section to calculate a first motor current command value based on a vehicle speed of said vehicle and a steering torque inputted into a steering shaft of said steering system;a steering angle control section to calculate a second motor current command value based on said target steering angle, an actual steering angle and a motor angular velocity of said motor; anda vehicle motion control section to calculate said target steering angle based on vehicle information,wherein said vehicle motion control section comprises:a rate limiter whose output value is coincident with a lateral position command by changing said output value in a step form with reference to said lateral position command in a predetermined period;a lateral position command vibration ...

Apparatus and method for compensating torque of motor-driven power steering system

An apparatus for compensating a torque of a motor-driven power steering system includes a column torque sensor detecting a column torque applied to a steering shaft; a vehicle speed sensor detecting a vehicle speed; a steering angle sensor detecting a steering angle velocity of a steering wheel; and a control unit suitable for calculating a high frequency assist gain for controlling a high frequency region of the column torque by receiving the column torque and the vehicle speed, determining whether a steering state is a steering reversal state, based on the steering angle velocity received from the steering angle sensor and motor current applied from an MDPS motor, compensating the high frequency assist gain depending on a result of determination, and compensating a high frequency characteristic of an assist torque calculated from the column torque and the vehicle speed, by using the compensated high frequency assist gain.

VEHICLE AND STEERING APPARATUS

A vehicle has a rear wheel drive device for driving rear wheels independently of a front wheel drive device. A drive mode control unit performs at least one of a first switching operation for switching between a front-wheel-only-drive mode and a rear-wheel-only-drive mode, a second switching operation for switching between a composite drive mode and the rear-wheel-only-drive mode, and a third switching operation for switching between the composite drive mode and the front-wheel-only-drive mode. When the drive mode control unit performs any one of the first switching operation, the second switching operation, and the third switching operation, an assistive force controller of the steering apparatus changes a control process for controlling a steering assistive force. 1. A steering apparatus for use in a vehicle including a front wheel drive device for driving front wheels , a rear wheel drive device for driving rear wheels independently of the front wheel drive device , and a drive mode control unit for controlling the front wheel drive device and the rear wheel drive device to control drive modes of the front wheels and the rear wheels , wherein the drive mode control unit performsa first switching operation of switching between a front-wheel-only-drive mode in which only the front wheels are driven and a rear-wheel-only-drive mode in which only the rear wheels are driven; andthe steering apparatus further comprises:a manual steering device that manually steers steerable wheels, which are at least the front wheels or the rear wheels;an assistive force generator, which generates a steering assistive force acting in a same direction as or in an opposite direction to a steering force applied to the manual steering device, for assisting in steering the steerable wheels with the manual steering device; andan assistive force controller that controls the steering assistive force; andwhen the drive mode control unit performs the first switching operation, the assistive ...

ROTARY MACHINE CONTROL APPARATUS

A rotary machine control apparatus controlling a drive of a rotary machine that has multiple winding groups is provided. The rotary machine control apparatus includes electric power converters in multiple systems, a failure detection portion, and a control portion. An electric power converter has switching elements in an upper arm and a lower arm and converts DC power. The failure detection portion detects a failure of an electric power converter or a winding group. The control portion calculates a current command value and a maximum current limit value, and controls an output to the electric power converter. The control portion stops the output to the electric power converter in a failure system, and the control portion increases the maximum current limit value with respect to the output to an electric power converter in a normal system. 1. A rotary machine control apparatus controlling a drive of a rotary machine that has a plurality of winding groups , the rotary machine control apparatus comprising:electric power converters in a plurality of systems, wherein each of the electric power converters has a switching element in an upper arm and a switching element in a lower arm and converts DC power to supply to a corresponding winding group corresponding to each of the electric power converters, and the switching element in the upper arm is bridge connected to the switching element in the lower arm;a failure detection portion detecting a failure of an electric power converter or a winding group; anda control portion calculating a current command value, which instructs current sent to each of the winding groups in the rotary machine and a maximum current limit value to the current command value, and controlling an output to each of the electric power converters for each of the systems,wherein:a partial system short circuit failure corresponds to a case where any portion between wirings in the electric power converters or the winding groups in either of the systems is ...

CONTROL DEVICE FOR AC ROTARY MACHINE

In a control device for an AC rotary machine, having an angle detector for detecting an electrical angle of the AC rotary machine, a detection error produced by the angle detector due to a noise magnetic field generated by a multi-phase alternating current flowing through an inverter connection unit is corrected using a correction signal having a phase and an amplitude that are determined in accordance with a relative positional relationship between the inverter connection unit and the angle detector and a current vector of the multi-phase alternating current, whereupon an inverter is controlled on the basis of the corrected electrical angle. As a result, a simple, low-cost control device for an AC rotary machine with which an angular position of a rotor can be detected with a high degree of precision is obtained. 1. A control device for an AC rotary machine , which controls an AC rotary machine in which a rotor is rotated by a rotating magnetic field formed by a multi-phase alternating current flowing through an armature winding of a stator , the control device comprising:an inverter that applies a voltage to the armature winding of the AC rotary machine;an inverter connection unit that connects the armature winding to the inverter;a magnetic field generator that generates an angle detecting magnetic field for detecting a rotation angle of the AC rotary machine by rotating in synchronization with the rotor;an angle detector that detects two mutually orthogonal components of the angle detecting magnetic field generated by the magnetic field generator as a sine signal and a cosine signal; anda control calculation unit that controls a voltage applied to the inverter on the basis of a current command of the AC rotary machine and angle information obtained from the sine signal and the cosine signal,wherein the control calculation unit includes an angle correction calculation unit that corrects an error in the angle information caused by a noise magnetic field generated ...

GUIDANCE SYSTEM AND STEERING CONTROL DEVICE FOR AN AGRICULTURAL VEHICLE

A vehicle guidance system for an agricultural vehicle is described which includes an optical imaging device collecting information of field characteristics, and a steering control device receiving the information of field characteristics transmitted from the optical imaging device. The steering control device having a steering actuator including a motor operatively connected to a hub adaptor. The hub adaptor is removably mountable to a central hub of a steering wheel of the agricultural vehicle in fixed rotary engagement, wherein when the hub adaptor is engaged to the central hub of the steering wheel, rotation of the hub adaptor by the motor causes corresponding rotation of the steering wheel. The steering control device thereby autonomously rotates the central hub of the steering wheel in response to the information of field characteristics received by the steering control device and the vehicle guidance system thereby steers the agricultural vehicle. 1. A vehicle guidance system for an agricultural vehicle , comprising:an optical imaging device adapted to be mounted to the agricultural vehicle, the optical imaging device collecting information of field characteristics; anda steering control device in electrical communication with the optical imaging device and receiving the information of field characteristics transmitted from the optical imaging device, the steering control device having a steering actuator including a motor operatively connected to a hub adaptor, the hub adapter and the motor being coaxially engaged to define therethrough a common axis forming an axis of rotation of the hub adapter when driven by the motor, the hub adaptor being removably mountable to a central hub of a steering wheel of the agricultural vehicle in fixed rotary engagement, wherein when the hub adaptor is engaged to the central hub of the steering wheel, rotation of the hub adaptor by the motor about said axis of rotation causes corresponding rotation of the steering wheel about ...

CONTROLLER, MOTOR CONTROL SYSTEM HAVING THE CONTROLLER, AND ELECTRIC POWER STEERING SYSTEM HAVING THE MOTOR CONTROL SYSTEM

A technique for reducing an operation noise even when a high-pass filter is used for controlling a motor is provided. A controller is used in a motor control system for driving a motor used for position control by using a drive circuit and an inverter. The controller includes a current control block for receiving a motor current and outputting a reference voltage, a motor control circuit for outputting a signal indicating a duty ratio from the reference voltage output from the current control block, a dead band compensation block for calculating a compensation value of a non-linear element of a drive system, and an adder. The dead band compensation block outputs a duty value corresponding to the dead band at a timing at which the motor current crosses zero. The adder adds the duty value to a signal indicating the duty ratio and outputs the signal. 1. A controller used in a motor control system for driving a motor by using a drive circuit and an inverter , the controller comprising:a current control block for receiving a motor current and outputting a reference voltage;a motor control circuit for outputting a signal indicating a duty ratio from the reference voltage output from the current control block;a dead band compensation block for calculating a compensation value of a non-linear element of a drive system having a dead band based on a dead band compensation value; andan adder, whereinthe dead band compensation block outputs a duty value corresponding to the dead band at a timing at which the motor current crosses zero; andthe adder adds the duty value to a signal indicating the duty ratio and outputs the signal.2. The controller according to claim 1 , wherein{'sub': refn', 'refn', 'refn', 'dead, 'the dead band compensation block determines whether or not a motor current Iillustrated in an IF clause of an equation (1) crosses zero, and when the motor current Icrosses zero, the dead band compensation block adds a sign in accordance with a time change of the motor ...

CONTROLLER, MOTOR CONTROL SYSTEM HAVING THE CONTROLLER, AND ELECTRIC POWER STEERING SYSTEM HAVING THE MOTOR CONTROL SYSTEM

A technique for reducing an operation noise even when a high-pass filter is used for controlling a motor is provided. A controller is used in a motor control system for driving a motor by using a drive circuit and an inverter. The controller includes a current control block. The controller performs feedforward control by using a current value, compensates for a term of a self-inductance of the motor included in a current control block by an inverse model, compensates for a phase characteristic of a transfer function of the inverse model by an advance component, and corrects a gain characteristic of the transfer function of the inverse model by a function of a physical quantity obtained based on an angular velocity of the motor, thereby compensating for a phase delay and a gain reduction of a torque output generated by the self-inductance. 1. A controller used in a motor control system for driving a motor by using a drive circuit and an inverter , the controller comprising:a current control block, whereinfeedforward control by using a current value is performed;a term of a self-inductance of the motor included in the current control block is compensated by an inverse model;a phase characteristic of a transfer function of the inverse model is compensated by an advance component; anda phase delay and a gain reduction of a torque output generated by the self-inductance is compensated by correcting a gain characteristic of the transfer function of the inverse model by a function of a physical quantity obtained based on an angular velocity of the motor.2. The controller according to claim 1 , further comprising:a disturbance observer for performing feedforward control by using a current value, whereina disturbance parameter of the current control block is compensated by adaptive control by using an output value of the disturbance observer.3. The controller according to or claim 1 , further comprising:a dead band compensation block for determining a timing at which a dead ...

CURRENT SENSOR STATE DETERMINATION DEVICE AND IN-VEHICLE ROTATING ELECTRIC MACHINE SYSTEM HAVING SAME

A current sensor state determination device determines that an abnormality is caused in a current sensor when a sum of phase currents based on current detection values from each of the current sensors in three phases is greater than a first determination value, and determines that no abnormality is caused in the current sensor when the sum of phase currents is equal to or less than the first determination value. The state determination device determines that the current sensor is normal when it is determined that (i) no abnormality is caused in a preset electric angle range equal to or less than one electric-angle cycle of the rotating electric machine and (ii) a value of an electric current flowing in the rotating electric machine in a rotating coordinates system calculated based on the current detection value is equal to or greater than a second determination value. 1. A current sensor state determination device comprising:a current sensor corresponding to one of multiple phase windings of a rotating electric machine and configured to detect a phase current flowing in the phase winding of the rotating electric machine;a power convertor (i) configured to convert a direct current output from a direct current power source to an alternating current under a control based on a current detection value detected by the current sensor and (ii) configured to supply the converted alternating current to the rotating electric machine;an abnormality determiner configured to determine (i) that an abnormality is caused in the current sensor when a sum of the phase currents calculated based on the current detection value of each phase is greater than a first threshold and (ii) that no abnormality is caused in the current sensor when the sum of the phase currents is equal to or less than the first threshold; anda normality determiner configured to determine that the current sensor is normal when (i) the abnormality determiner determines no abnormality in a preset electric angle ...

MOTOR CONTROLLING METHOD, MOTOR CONTROLLING SYSTEM, AND ELECTRONIC POWER STEERING SYSTEM

A motor controlling method includes a step of obtaining a resultant magnetic flux, a stator current, and a stator voltage, which are represented by a phasor, with respect to an α-β fixed coordinate system or a d-q rotating coordinate system, a step of calculating an angle (ϕ) between the stator current and the stator voltage, a step of calculating a torque angle (δ) according to: 15-. (canceled)6. A motor controlling method of controlling a surface permanent magnet motor , the motor controlling method comprising:a step of obtaining a resultant magnetic flux, a stator current, and a stator voltage, which are represented by a phasor, with respect to an α-β fixed coordinate system or a d-q rotating coordinate system;a step of calculating an angle (ϕ) between the stator current and the stator voltage; {'br': None, 'sup': '−1', 'sub': s', 's, 'i': 'LI', 'δ=cot(ψ/(cos(ϕ))−tan(ϕ))'}, 'a step of calculating a torque angle (δ) according to{'sub': s', 's, 'wherein L is an armature inductance, ψindicates a magnitude of the resultant magnetic flux, and Iindicates a magnitude of the stator current; and'}a step of controlling the surface permanent magnet motor based on the torque angle (δ).7. The motor controlling method of claim 6 , further comprising a step of calculating torque (T) based on the torque angle (δ); whereinin the step of controlling the surface permanent magnet motor, the surface permanent magnet motor is controlled based on the torque (T).8. The motor controlling method of claim 7 , further comprising a step of calculating a phase angle (ρ) based on components of the resultant magnetic flux on an α-axis and a β-axis in the α-β fixed coordinate system and calculating a rotor angle (θ) based on the torque angle (δ) and the phase angle (ρ); whereinin the step of controlling the surface permanent magnet motor, the surface permanent magnet motor is controlled based on the rotor angle (θ) and the torque (T).9. A motor controlling system comprising:a surface permanent ...

VEHICULAR STEERING CONTROL DEVICE

A vehicular steering control device comprises a rudder angle variable device which alters relationship between an operating position of a steering wheel and an operating position of the steering wheel found from a rudder angle of steered wheels FL and FR, and a rudder angle control device which performs an automatic steering control which controls the rudder angle of the steered wheels by controlling the rudder angle variable device. When a steering mode is switched from an automatic steering mode to a manual steering mode (S), the rudder angle control device gradually reduces a control gain Klka of the automatic steering mode (S), and reduces by degrees a size of a deviation between the two operating positions (S), only when the steering operation is performed by a driver (S). 1. A vehicular steering control device comprising a rudder angle variable device which varies a rudder angle of a steered wheel , and a rudder angle control device which controls said rudder angle variable device ,wherein a steering mode is switched between a manual steering mode which controls the rudder angle of the steered wheel according to an operating position of a steering input device which is operated by a driver, and an automatic steering mode which calculates a target rudder angle of said steered wheel and controls said rudder angle of the steered wheel to be said target rudder angle by said rudder angle variable device,characterized in that, when said steering mode is switched from said automatic steering mode to said manual steering mode, said rudder angle control device gradually reduces a control gain, only when said operating position of the steering input device is changed by a driver, provided that said control gain of said automatic steering mode is a ratio of an actual modification amount of the rudder angle to a target modification amount of the rudder angle of said steered wheel for making said rudder angle of the steered wheel become said target rudder angle.2. The ...

Electric Power Steering Device

An electric power steering device includes: a steering torque sensor that detects a steering torque; a current command value calculation unit that calculates a current command value based on the steering torque; an electric motor that generates a steering assist torque; a motor control unit that controls and drives the electric motor based on the current command value; a navigation controller and a GPS receiver that detects position information of a vehicle; and an operation assist unit that stores, in a map database, the steering torque detected by the steering torque sensor and the position information of the vehicle upon detection of the steering torque in association with each other and executes operation assist processing for assisting the driver in operating the steering wheel based on a past steering torque corresponding to current position information. 18-. (canceled)9. An electric power steering device comprising:a current command value calculation unit configured to calculate a current command value on the basis of at least a steering torque input to a steering mechanism;an electric motor configured to generate a steering assist torque to be applied to a steering shaft of the steering mechanism;a motor control unit configured to control and drive the electric motor on the basis of the current command value;a steering operation information detection unit configured to detect steering operation information as information concerning an operation of a steering wheel by a driver;a position information acquisition unit configured to acquire position information of a vehicle equipped with the electric power steering device;an operation information storage unit configured to store, in a storage device, steering operation state information obtained by associating the steering operation information detected by the steering operation information detection unit with the position information upon detection of the steering operation information; andan operation assist ...

SYSTEM AND METHOD FOR CONTROLLING A VEHICLE

A vehicle is provided including an electronic power steering system, an electronic throttle control system, and a stability control system. 1. A power steering method for a vehicle , the method including:detecting, by a controller of a power steering system, a selected gear of a transmission of the vehicle;determining, by the controller, a power steering assist level based on the selected gear of the transmission and a user torque input to a steering assembly of the vehicle; andoutputting, by the power steering system, steering torque assistance to the steering assembly of the vehicle based on the power steering assist level.2. The method of claim 1 , wherein the controller determines a first power steering assist level for a low range gear of the transmission and a second power steering assist level for a high range gear of the transmission claim 1 , the first power steering assist level being greater than the second power steering assist level.3. The method of claim 1 , further including detecting a ground speed of the vehicle based on output from a ground speed sensor claim 1 , wherein the determining the power steering assist level is further based on the detected ground speed.4. The method of claim 3 , wherein the power steering assist level for a same selected gear of the transmission is greater for low ground speeds than for high ground speeds.5. The method of claim 1 , further including estimating claim 1 , by the controller claim 1 , a ground speed of the vehicle based on the engine speed claim 1 , a predetermined maximum engine speed claim 1 , and a predetermined maximum ground speed claim 1 , wherein the determining the power steering assist level is further based on the estimated ground speed.6. The method of claim 1 , further including detecting a driveline condition of the vehicle claim 1 , the determining the power steering assist level further being based on the driveline condition claim 1 , wherein the driveline condition includes at least one of a ...

DEVICE AND METHOD OF CONTROLLING STEERING SYSTEM MOUNTED IN VEHICLES

A steering control device controls an assist torque to be outputted by a motor connected to a steering system mechanism generating a steering torque. A response compensation filter performs a filter process compensating for a response in a specific frequency band with respect to a target steering torque generated by a target generation unit, and outputs a response-compensated target steering torque (Ts**). A servo controller calculates an assist torque command value (Ta*) in order for a torque deviation (ΔTs), which is a difference between the steering torque (Ts) and the response-compensated target steering torque (Ts**), to become zero. A transfer characteristic of the response compensation filter is set to suppress a mechanical resonance frequency band where a gain due to resonance of the steering system mechanism becomes large. 1. A device controlling an assist torque to be outputted by a motor connected to a steering system mechanism generating a steering torque , comprising:a target generation unit generating a target steering torque, which is a target value of the steering torque;a response compensation filter where a filter process compensating for a response at a specific frequency band with respect to the inputted target steering torque is performed, and a response-compensated target steering torque is outputted; anda servo controller calculating a command value of the assist torque in order for a torque deviation, which is a difference between the steering torque and the target steering torque after compensating for the response, to become zero,wherein the response compensation filter has a transfer characteristic which is set to suppress a mechanical resonance characteristic at a frequency band having the mechanical resonance characteristic where a gain due to resonance of the steering system mechanism becomes great, with respect to a transfer characteristic from the target steering torque to the steering torque.2. The device according to claim 1 , ...

DRIVE ASSIST DEVICE

In a drive assist system, a map data acquiring section acquires at least one of a driver's operation ability and a load of a vehicle. An adjustment section determines an assist control amount as a control parameter of drive assist for the vehicle so that a degree of the driver's operation is increased according to reduction of the driver's operation ability or increasing of the load of the vehicle. An assist control amount calculation section transmits the assist control amount to a steering motor and a notification section so as to execute the drive assist for the vehicle. 1. A drive assist device which executes a drive assist of an own vehicle , comprising a computer system including a central processing unit , the computer system being configured to provide:an ability acquiring section which acquires at least one of a driver's operation ability of the own vehicle, and an operating load of the own vehicle;a control amount determination section which determines an assist control amount as a control parameter of the drive assist of the own vehicle so that a degree of the driver's operation for the own vehicle is increased according to reduction of the degree of the driver's operation ability, and increasing of the operating load of the own vehicle; andan assist execution section which transmits the assist control amount to the assist section in order to execute drive assist for the own vehicle.2. The drive assist device according to claim 1 , wherein the control amount determination section determines a steering control amount as the assist control amount claim 1 , andthe assist execution section transmits the assist control amount determined by the control amount determination section to the assist section which executes the drive assist for the own vehicle.3. The drive assist device according to claim 1 , wherein the control amount determination section determines the assist control amount so that an assist start timing claim 1 , at which the drive assist is ...

SYSTEM SHARING BATTERY WITH EXTERNAL DEVICE

In a system that shares a battery with an external device, the system includes a power storage device connected to the battery via a power supply line. The system includes a switch provided on the power supply line, and a control unit. The control unit controls on-off switching operations of the switch to selectively establish an electrical conduction between the battery and the power storage device or interrupt the electrical conduction therebetween. The battery has a battery voltage thereacross, and the power storage device has a power-storage voltage thereacross. The battery charges the power storage device while the electrical conduction is established so that the power-storage voltage follows the battery voltage. The control unit turns off the switch when the battery voltage is in a predetermined insufficient voltage state to prevent electrical power charged in the power storage device from being discharged to the battery. 1. A system that shares a battery with an external device , the system comprising:a power storage device connected to the battery via a power supply line;a switch provided on the power supply line; anda control unit configured to control on-off switching operations of the switch to selectively establish an electrical conduction between the battery and the power storage device or interrupt the electrical conduction therebetween, the battery having a battery voltage thereacross, the power storage having a power-storage voltage thereacross, the battery charging the power storage device while the electrical conduction is established so that the power-storage voltage follows the battery voltage,the control unit being configured to turn off the switch when the battery voltage is in a predetermined insufficient voltage state to prevent electrical power charged in the power storage device from being discharged to the battery.2. The system according to claim 1 , wherein: determine whether the power-storage voltage is lower than a predetermined ...

Electrical Power Assisted Steering System

A method of operating an electric power assisted steering system of the kind in which an electric motor applies an assistance torque to a part of the steering system as a function of an assistance torque signal, the assistance torque reducing the force required by the driver to turn a steering wheel, comprises during normal operation generating an assistance torque signal that is dependent on the torque applied by the driver, and during a fault operation in which the torque applied by the driver is not reliably known to the system generating an assistance torque signal that is derived from a first term that has a value that varies as a function of the angular position of the steering relative to a changeable datum, the angular position of the changeable datum being updated in the event that the direction of rotation of the steering changes. 1. A method of operating an electric power assisted steering system in which an electric motor applies an assistance torque to a part of the steering system as a function of an assistance torque signal , the assistance torque reducing a force required by a driver to turn a steering wheel , the method comprising during normal operation generating an assistance torque signal that is dependent on a torque applied by the driver , and during a fault operation in which the torque applied by the driver is not reliably known to the system generating an assistance torque signal that is derived from a first component or term that has a value that varies as a function of an angular position of the steering relative to a changeable datum , the angular position of the changeable datum being updated in the event that a direction of rotation of the steering changes.2. The method according to comprising resetting the changeable datum when the direction of rotation of the steering changes but only if one or more additional conditions are met.3. The method according to in which the additional condition is dependent of the value of the assistance ...

STEERING HOLDING JUDGING APPARATUS FOR VEHICLE AND ELECTRIC POWER STEERING APPARATUS EQUIPPED WITH THE SAME

A steering holding judging apparatus for the vehicle including: at least two steering angle sensors to detect a steering angle; and a steering state judging section to calculate a hysteresis central value by using a hysteresis signal that sets a hysteresis width to the two steering angle sensor, judge a steering state using the hysteresis central value, and output provisional steering information, wherein a steering holding state is detected based on the provisional steering information, and the electric power steering apparatus equipped with the steering holding judging apparatus for the vehicle. 113-. (canceled)14. A steering holding judging apparatus for a vehicle , comprising:at least two steering angle sensors to detect a steering angle of a steering system of a vehicle; anda steering state judging section to calculate a hysteresis central value by using a hysteresis signal that sets a hysteresis width for steering signals from said two steering angle sensor, judge a steering state by using said hysteresis central value, and output a provisional steering information,wherein said hysteresis central value is calculated by a hysteresis filter process using said hysteresis signal,wherein said hysteresis width is set by being added or being subtracted a value 1 which is larger than a noise width of said steering angle signal and is smaller than a friction of a column shaft, to or from a steering angle 1 detected from a steering sensor which detects an input side steering angle of said column shaft, and being added or being subtracted a value 2 which is added a value which a driver does not feel to a value which is larger than a noise width of said steering angle, to or from a steering angle 2 detected from a steering sensor which detects an output side steering angle of said column shaft, andwherein a steering holding state is detected based on said provisional steering information.15. The steering holding judging apparatus for the vehicle according to claim 14 , ...

STEERING CONTROL DEVICE

In a drive assist system, a map data acquiring section acquires a forward road shape and a rearward road shape. The forward road shape represents a road shape at a forward position in front of a current position of an own vehicle on a road on which the own vehicle drives. The rearward road shape represents a road shape at a rearward position on the road. The rearward position is behind the forward position and in front of the current position of the own vehicle on the road. An assist control calculation section determines steering characteristics of the own vehicle at the target position located between the forward position and the rearward position based on the forward road shape and the rearward road shape, and adjusts a steering angle of the own vehicle on the basis of the determined steering characteristics of the own vehicle. 1. A steering control device executing steering control of an own vehicle , comprising a computer system including a central processing unit , the computer system being configured to provide:a road shape information acquiring section which acquires a forward road shape which represents a road shape at a forward position in front of a current position of an own vehicle on a road, on which the own vehicle drives, and acquires a rearward road shape which represents a road shape at a rearward position on the road, the rearward position being behind the forward position and being in front of the current position of the own vehicle on the road;a characteristics determination section which determines steering characteristics of the own vehicle at a target position on the road on the basis of the forward road shape and the rearward road shape acquired by the road shape information acquiring section, the target position being located between the forward position and the rearward position on the road; anda steering angle control section which adjusts the steering angle of the own vehicle on the basis of the steering characteristics of the own ...

POWER STEERING APPARATUS

A power steering apparatus includes: a first detection element arranged to sense a rotation angle of the first gear based on a variation of a magnetic field generated by the first magnetic member; a second detection element arranged to sense a rotation angle of the second gear based on a variation of a magnetic field generated by the second magnetic member; an absolute steering angle calculating circuit configured to calculate an absolute steering angle of the steering wheel from an neutral position of the steering wheel at which the steered wheel directs in a straight direction, by a combination between the rotation angle of the first gear and the rotation angle of the second gear; and a control section configured to drive and control the electric motor based on the absolute steering angle. 1. A power steering apparatus comprising:a steering mechanism arranged to steer a steered wheel in accordance with an operation of a steering wheel;an electric motor arranged to provide a steering force to the steering mechanism;a sensor housing provided to the steering mechanism, and including a first gear supporting portion and a second gear supporting portion which are formed within the sensor housing;a first gear which is rotatably held on the first gear supporting portion, which includes a plurality of first tooth portions integrally formed on an outer circumference side, and a first magnetic member in which an N pole and an S pole are magnetized around a rotation axis that is a center, and which is arranged to be rotated in accordance with a rotation of the steering wheel;a first mark portion which is provided to the first gear, and which is indicative of a position of one of the N pole and the S pole that are magnetized in the first magnetic member;a second gear which is rotatably held on the second gear supporting portion, which includes a plurality of second tooth portions integrally formed on an outer circumference side, and arranged to be directly or indirectly ...

SYSTEM AND METHOD FOR CONTROLLING A VEHICLE STEERING SYSTEM

A system for control of a steering system of a vehicle. The system including an actuator for applying a force or a torque to the steering system. A force or torque can be superimposed on a force or torque originating from the wheels. The system includes a detection unit disposed on the vehicle and configured for anticipatorily detecting at least one surface condition of a surface section located ahead of the vehicle in the direction of vehicle travel and subsequently driven on by the vehicle. The system including a data processing unit disposed on the vehicle and connected to and communicating with the detection unit. The data processing unit configured for generating control signals for controlling an actuator of the steering system based on the detected surface condition. 1. A motor vehicle comprising:at least one steerable wheel;a steering system, the steering system including a steering wheel mechanically coupled to the at least one steerable wheel;a detection unit, detecting a surface condition of a surface section of a surface located ahead of the motor vehicle and subsequently driven on by the motor vehicle;a data processing unit receiving signals from the detection unit and generating an output signal based on the detected surface condition; andan actuator applying a force to the steering system based on the output signal to control feedback forces on the steering wheel caused by the at least one steerable wheel driving over the surface section.2. The motor vehicle of claim 1 , including an electronic power assist system; anda controller, the controller generates a control signal to control the electronic power assist system wherein the electronic power assist system acts through a steering column on the steering wheel.3. The motor vehicle of claim 1 , including a human-machine interface connected to and communicating with the data processing unit claim 1 , the human-machine interface adjusts the feedback forces.4. The motor vehicle of claim 1 , including at ...

POWER STEERING SYSTEM WITH A STEERING COLUMN RETRACTABLE ACCORDING TO AN IMPROVED BACKWARD STROKE BY MEANS OF A THROUGH INDUCTIVE SENSOR

A power steering system for a motor vehicle, having a steering column integrating an upper shaft and an intermediate shaft rotatably linked and movable in translation relative to one another, an upper tube and a lower tube rotatably linked and movable in translation relative to one another, the upper shaft being movable in rotation and linked in translation within the upper tube, and an assist module integrating an output shaft linked in rotation with the intermediate shaft via a torsion bar, a reducer having a worm screw driven by an assist motor and which meshes on a worm wheel linked to the output shaft; and an angle measuring device having an inductive sensor carried by an annular support having a central orifice dimensioned so as to let the upper tube pass, a lower target securely mounted around the output shaft and an upper target. 1. A power steering system for a motor vehicle , comprising a steering column configurable between a use configuration and a retracted configuration , said steering column integrating:an upper shaft and an intermediate shaft coaxial according to a main axis, rotatably linked and movable in translation axially relative to one another; andan upper tube and a lower tube coaxial according to the main axis, rotatably linked and movable in translation axially relative to one another, where the upper shaft is mounted movable in rotation inside the upper tube and is axially linked in translation with the upper tube, and where the upper tube is mounted inside the lower tube; an output shaft linked in rotation with the intermediate shaft via a torsion bar;', 'a reducer comprising a worm screw driven by an assist motor and which meshes on a worm wheel linked in rotation with the output shaft;', 'an angle measuring device adapted to measure a torsion angle between the output shaft and the intermediate shaft, said angle measuring device comprising an inductive sensor and two targets disposed on either side of the inductive sensor according to ...

POWER STEERING SYSTEM WITH A RETRACTABLE STEERING COLUMN ACCORDING TO AN IMPROVED RECOIL TRAVEL BY MEANS OF A LOWER TARGET, FOR AN ANGLE MEASURING DEVICE, INTEGRATED INTO A TANGENT WHEEL OF THE REDUCER

A power steering system for a motor vehicle, including a steering column integrating an upper shaft and an intermediate shaft connected in rotation and relatively movable in translation, an upper tube and a lower tube connected in rotation and relatively movable in translation, the upper shaft being movable in rotation and connected in translation in the upper tube, and an assist module integrating an output shaft connected in rotation to the intermediate shaft via a torsion bar, a reducer including a worm screw driven by an assist motor and which meshes on a tangent wheel connected to the output shaft; and an angle measuring device including an inductive sensor, a lower target mounted secured to the output shaft and an upper target secured to an upper lateral face of a core made of a plastic material of the tangent wheel. 1. A power steering system for a motor vehicle , comprising a steering column integrating:an upper shaft and an intermediate shaft coaxial along a main axis, connected in rotation and movable in translation axially relative to one another; andan upper tube and a lower tube coaxial along the main axis connected in rotation and movable in translation axially relative to one another, where the upper shaft is mounted movable in rotation inside the upper tube and is connected in translation axially to the upper tube;said power steering system further comprising an assist module integrating a reducing casing on which the lower tube is fixed and integrating, at least partially housed inside the reducing casing:an output shaft connected in rotation to the intermediate shaft via a torsion bar;a reducer comprising a worm screw driven by an assist motor and which meshes on a tangent wheel connected in rotation to the output shaft;an angle measuring device suitable for measuring a torsion angle between the output shaft and the intermediate shaft, said angle measuring device comprising an inductive sensor and two targets disposed on either side of the ...

STEERING SYSTEM AND VEHICLE EQUIPPED WITH SAME

Provided is a steering system capable of enhancing traveling stability when a vehicle drives straight and improving small-turn performance. The steering system includes: a first steering device; a second steering device including a mechanical section configured to individually steer each of left and right wheels by driving a steering actuator and a control section configured to control the steering actuator; and a vehicle information detection section configured to detect a velocity of the vehicle and a steering angle. The control section includes a turning angle control module configured to control the steering actuator pursuant to a predetermined rule in accordance with the velocity of the vehicle and the steering angle so as to control turning angles of the left and right wheels. 1. A steering system for a vehicle , the steering system comprising:a first steering device configured to steer wheels of the vehicle in accordance with a command of a steering amount outputted by a steering command device;a second steering device including a mechanical section configured to individually steer each of the wheels on left and right sides by driving a steering actuator disposed in a tire housing of the vehicle, and a control section configured to control the steering actuator; and 'the control section includes a turning angle control module configured to control the steering actuator pursuant to a predetermined rule in accordance with the velocity of the vehicle and the steering angle so as to control turning angles of the wheels on the left and right sides.', 'a vehicle information detection section configured to detect vehicle information including a velocity of the vehicle and a steering angle of the first steering device, wherein'}2. The steering system as claimed in claim 1 , wherein the turning angle control module is configured to control the steering actuator such that only an outer wheel in turning of the wheels on the left and right sides is turned by an increased ...

Steering control device

A steering control device in a seer-by-wire system calculates a current limit presentation command value so as to convey an output-limited state of a turning device to a driver, calculates a steering torque command value on a basis of a physical quantity corresponding to an output torque of the turning device, and calculates a basic reaction force torque command value being a basic value of a reaction force torque command value so that a detection value of a torque sensor follows a target value that is based on the steering torque command value. The control device controls a current flowing to a reaction-force-use rotary electric machine on a basis of the basic reaction force torque command value and the end presentation command value, and increases an absolute value of the current limit presentation command value when the turning device is in the output-limited state.

STEERING ASSISTANCE SYSTEM AND METHOD

A method for managing a vehicle steering system of a vehicle having a steering assist system, including estimating a steering angle amplitude during a steering maneuver before rotating the steering wheel to the steering angle amplitude value associated with the steering maneuver. Using the estimated steering angle amplitude value to control activation of the steering assist system associated with the vehicle steering system. In one example, the estimated steering angle amplitude value adapts a torque assist signal of the steering assist system. 1. A method of managing a vehicle steering system of a vehicle comprising:during a steering maneuver, estimating a steering angle amplitude value during the steering maneuver before rotating a steering wheel to the steering angle amplitude value associated with the steering maneuver; andusing the estimated steering angle amplitude value to control activation of a steering assist system associated with the vehicle steering system.2. The method of claim 1 , wherein the step of using the estimated steering angle amplitude value to control the vehicle steering system includes managing a torque output of a steering assist system.3. The method of claim 1 , including the steps of:measuring a steering angle value at a fixed time;measuring a steering angle velocity at the fixed time; andusing the steering angle value and the steering angle velocity to estimate the steering angle amplitude value at a time later than the fixed time.4. The method of claim 2 , including the steps of;determining a steering angle amplitude stability threshold value;comparing the estimated steering angle amplitude value with the steering angle amplitude stability threshold value; andpreventing the steering assist system from providing additional torque when the estimated steering angle amplitude value is greater than the steering angle amplitude stability threshold value.5. The method of claim 4 , wherein the steering angle amplitude stability threshold ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus that: calculates a steering angle control current command value for the steering angle control based on at least a steering angle command value and an actual steering angle; judges a steering state based on a manual input judgment and performs a switch of the steering state; converts a steering angular velocity command value calculated from at least the steering angle command value and the actual steering angle into an extended steering angular velocity command value; calculates the steering angle control current command value based on the extended steering angular velocity command value and an actual steering angular velocity; performs manual input judgment to a steering torque by using a threshold; and calculates the current command value by using at least the steering angle control current command value. 134-. (canceled)35. An electric power steering apparatus that drives a motor based on a current command value and performs an assist control and a steering angle control to a steering system by driving and controlling said motor , comprising:a steering angle control section that calculates a steering angle control current command value for said steering angle control based on at least a steering angle command value and an actual steering angle, anda switch judging and gradual-change gain generating section that judges a steering state based on a manual input judgment and performs a switch of said steering state;wherein said steering angle control section comprises a filter section that converts a steering angular velocity command value calculated from at least said steering angle command value and said actual steering angle into an extended steering angular velocity command value by using a feed-forward filter (an FF filter), and said steering angle control section calculates said steering angle control current command value based on said extended steering angular velocity command value and an actual steering angular velocity, ...

STEERING CONTROL APPARATUS AND STEERING CONTROL METHOD

A steering control apparatus for a steering system includes a controller. The controller sets a limit value to less than or equal to a steering angle limit value, the limit value being an upper limit of an absolute value of a torque command value, and controls a motor such that a motor torque follows the torque command. When the absolute value of a rotation angle of a rotary shaft exceeds a steering angle threshold, the controller computes a damping control amount such that the damping control amount increases with an increase in an excess of an angular velocity of the rotary shaft over a first upper limit angular velocity. The controller computes the torque command value based on a value obtained by combining the basic command value and the damping control amount such that an absolute value of the basic command value is reduced. 1. A steering control apparatus for a steering system to which a motor torque that reciprocates a wheel turning shaft of a steering mechanism is applied by an actuator that uses a motor as a drive source , the steering control apparatus comprising compute a torque command value that is a target value of the motor torque that the motor outputs;', 'when an absolute value of a rotation angle of a rotary shaft exceeds a steering angle threshold for the steering system, compute a steering angle limit value that reduces with an increase in the absolute value of the rotation angle, the rotation angle of the rotary shaft being convertible to a wheel steering angle of a steered wheel coupled to the wheel turning shaft;', 'set a limit value to less than or equal to the steering angle limit value, the limit value being an upper limit of an absolute value of the torque command value;', 'control the motor such that the motor torque follows the torque command value whose absolute value is limited to less than or equal to the limit value;', 'compute a basic command value based on a steering torque;', 'when the absolute value of the rotation angle exceeds ...

Vehicle travel support apparatus

Provided is a vehicle travel support apparatus including: a normal control module configured to execute travel support control; a correction control module configured to execute correction control in addition to the travel support control when a state of the vehicle is brought into an abnormal state during the execution of the travel support control; and a compensation control module configured to, when a finish condition is satisfied during the execution of the correction control, stop both the travel support control and the correction control and execute compensation control.

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes a motor that generates an assist force; and an ECU that computes a basic current command value corresponding to the assist force, based on a steering torque, and that controls the motor based on the basic current command value and a stabilization current command value computed by an external SC controller so as to stabilize behavior of a vehicle when the behavior of the vehicle is unstable. When the stabilization current command value is input, the ECU determines whether the behavior of the vehicle is stable, and when it is determined that the behavior of the vehicle is stable, the ECU controls the motor based on the basic current command value without using the stabilization current command value. 1. An electric power steering system comprising:a motor that generates an assist force applied to a steering mechanism of a vehicle;a torque sensor that generates a torque signal according to a steering torque applied to a steering shaft constituting the steering mechanism; anda controller that computes a first controlled variable corresponding to the assist force, based on the torque signal, and that controls the motor based on the first controlled variable and a second controlled variable computed and output by an external computing unit so as to stabilize behavior of the vehicle when it is determined that the behavior of the vehicle is unstable,wherein the controller estimates whether or not the behavior of the vehicle is stable based on a state quantity that is acquired through use of a plurality of types of sensors provided in the vehicle and that indicates the behavior of the vehicle, and the controller controls the motor based on the first controlled variable without using the second controlled variable when it is estimated that the behavior of the vehicle is stable.2. The electric power steering system according to claim 1 , wherein the plurality of types of sensors include a vehicle speed sensor that detects a traveling ...

SENSOR DEVICE

A sensor device includes a partial assembly, a circuit board, and a sensor housing. The partial assembly is constituted by selectively mounting a part that is at least one of a magnetism collection member and a driven wheel to a holder. The circuit board is provided with a detector configured to detect at least one of magnetic flux induced by the magnetism collection member and a rotational angle of the driven wheel in accordance with the part mounted to the holder. The sensor housing is penetrated by the shaft, and houses the partial assembly and the circuit board. 1. A sensor device comprising:a partial assembly constituted by selectively mounting a part that is at least one of a magnetism collection member and a driven wheel to a holder, the magnetism collection member being configured to induce magnetic flux that matches torsion of a shaft as a detection target, and the driven wheel being configured to rotate in conjunction with rotation of the shaft;a circuit board provided with a detector configured to detect at least one of the magnetic flux induced by the magnetism collection member and a rotational angle of the driven wheel in accordance with the part mounted to the holder; anda sensor housing that is penetrated by the shaft and that houses the partial assembly and the circuit board.2. The sensor device according to claim 1 , wherein the holder includes an engagement portion claim 1 , the partial assembly being held inside the sensor housing with the engagement portion engaged with a portion of the sensor housing.3. The sensor device according to claim 1 , wherein the partial assembly includes a holding member that holds the driven wheel on the holder claim 1 , the holding member being mounted to the holder so as to cover the driven wheel.4. The sensor device according to claim 1 , wherein the sensor housing includes a cover that closes an opening portion that opens toward a direction that intersects with an axis of the shaft claim 1 , the cover being ...

Method and apparatus for synchronizing mdps motor and motor position sensor

A method for synchronizing an MDPS motor and a motor position sensor may include: sequentially aligning, by a controller, a rotor of the MDPS motor by sequentially applying preset three-phase current pulses to the MDPS motor, the three-phase current pulses corresponding to one electrical-angle cycle of the rotor of the MDPS motor, and detecting an actual rotational position of the aligned rotor through the motor position sensor; determining a zero point rotational position of the rotor based on the actual rotational position; determining a reference rotational position of the rotor based on the actual rotational position and the number of pole pairs in the MDPS motor, and determining an offset rotational position of the rotor based on the actual rotational position and the reference rotational position; and correcting the zero point rotational position by adding the offset rotational position to the zero point rotational position.

STEERING ASSIST METHOD AND APPARATUS

Aspects of the present invention relate to a control system for controlling generation of a road edge assist steering torque at a steering wheel of a host vehicle. The control system includes one or more controllers. The control system is configured to determine a first width representing a width of a first lane of travel. The determined first width is compared to a predefined first threshold. The control system is configured to control generation of the road edge assist steering torque in dependence on the comparison of the first width and the first threshold. Aspects of the present invention also relate to a vehicle having a control system; and a method of controlling generation of a road edge assist steering torque. 1. A control system for controlling generation of a road edge assist steering torque at a steering wheel of a host vehicle; the control system comprising one or more controllers , the control system being configured to:determine a first width representing a width of a first lane of travel; andcomparing the first width to a predefined first threshold;wherein the control system is configured to control generation of the road edge assist steering torque in dependence on the comparison of the first width and the first threshold.2. The control system according to claim 1 , wherein the control system is configured to enable generation of the road edge assist steering torque in dependence on a determination that the first width is greater than the first threshold.3. The control system according to claim 1 , wherein the control system is configured to suppress generation of the road edge assist steering torque in dependence on a determination that the first width is less than the first threshold.4. The control system according to claim 1 , wherein the first width represents the width of the first lane of travel between a first road edge and at least one lane marking;and optionally wherein the control system is configured to:determine when the host vehicle ...

ELECTRIC POWER STEERING DEVICE

Provided is a feature which allows an electric power steering device to improve the steering feel. The electric power steering device includes: a basic control amount calculating section configured to calculate a basic control amount corresponding to steering by a driver; a frictional force calculating section configured to calculate, by using a friction model, a frictional force corresponding to a wheel angle-related value, which is a value relating to a wheel angle of a steering device, and calculate a friction-originated control amount, which originates from the calculated frictional force; and a control amount calculating section configured to calculate a steering control amount in accordance with the basic control amount and the friction-originated control amount. 1. An electric power steering control device for calculating a steering control amount for steering a steering device , the electric power steering control device , comprising:a basic control amount calculating section configured to calculate a basic control amount corresponding to steering by a driver;a frictional force calculating section configured to calculate, by using a friction model, a frictional force corresponding to a wheel angle-related value, which is a value relating to a wheel angle of the steering device, and calculate a friction-originated control amount, which originates from the calculated frictional force; anda control amount calculating section configured to calculate the steering control amount in accordance with the basic control amount and the friction-originated control amount calculated by the frictional force calculating section,the friction model being a model including a spring component and a Coulomb friction component connected in series,the frictional force calculating section being configured to:calculate the frictional force by using a plurality of models each being the model including the spring component and the Coulomb friction component connected in series,the ...

DRIVE DEVICE AND DRIVE UNIT

A connector portion includes a first system connector that holds a first system terminal and a second system connector that holds a second system terminal. An insertion/removal direction of the first system connector and the second system connector are the same as an axial direction of a motor. The first system connector and the second system connector are arranged close to each other such that the long length directions of the frontages of the connectors are aligned, and that the interval between the connectors is smaller than the width in the short length direction of both connectors. The connectors have protrusions that project in a direction orthogonal to the direction in which the connectors are arranged. 1. A drive device comprising:a motor having winding sets in two systems;a control portion arranged coaxially with the motor and being configured to control a drive of the motor; anda connector portion configured to connect an external connector which is a connector of an external cable and the motor, whereinthe control portion includes a first system control portion configured to control energization of one of the winding sets, and a second system control portion configured to control energization of the other winding set,the first system control portion and the second system control portion are mounted on one circuit board,the connector portion includes a first system terminal connected to the first system control portion, a first system connector holding the first system terminal, a second system terminal connected to the second system control portion, and a second system connector holding the second system terminal,an insertion/removal direction of the first system connector and an insertion/removal direction of the second system connector are the same as an axial direction of the motor,the first system connector and the second system connector are arranged close to each other such that a long length direction or a short length direction of the frontages of ...

ELECTRONIC CONTROL UNIT AND ELECTRIC POWER STEERING DEVICE USING THE SAME

An electronic control unit includes: a substrate; a plurality of heat generating components that are provided on one surface of the substrate and generate heat during operation; a heat conducting component that is formed of a material having a heat conductivity equal to or higher than a predetermined value and is provided on the one surface of the substrate such that at least a part of the heat conducting component is located between the plurality of heat generating components; and a controller that is provided on the substrate and controls the operation of each of the plurality of heat generating components to control the object to be controlled. 1. An electronic control unit that is configured to control an object to be controlled , the electronic control unit comprising:a substrate;a plurality of heat generating components that are provided on one surface of the substrate, and generate heat during operation;a heat conducting component that is formed of a material having a heat conductivity equal to or higher than a predetermined value, and is provided on the one surface of the substrate such that at least a part of the heat conducting component is located between the plurality of heat generating components; anda controller that is provided on the substrate, and is configured to control the operation of each of the plurality of heat generating components to control the object to be controlled, whereinthe plurality of heat generating components and the heat conducting component are provided in one region of the substrate, and the controller is provided in an other region of the substrate opposite to the one region.2. The electronic control unit according to claim 1 , whereinthe heat conducting component is provided such that at least a part of the heat conducting component surrounds at least one of the heat generating components.3. The electronic control unit according to claim 1 , further comprising:{'b': '30', 'a wire () that is provided on the one surface of the ...

FILTERING METHOD FOR THE DETECTION OF THE TRANSITIONS OF A POWER STEERING SIGNAL

The invention concerns a method for detecting a transition (′) in a noisy signal, which involves submitting a noisy signal (δSignal) carrying an item of information used for managing the power steering, said method comprising a derivation sub-step (a), which involves evaluating the time derivative of the noisy signal (δSignal/δt), following by a selective filtering sub-step (a) which involves comparing said time derivative of the noisy signal (δSignal/δt) with a predefined variation threshold (S) in order to detect the appearance of a derivative peak (), greater than said variation threshold (Spic), evaluating the holding time (dpic) of said derivative peak, during which the time derivative of the noisy signal (δSignal/δt) is held above said variation threshold (Spic), and checking if said peak holding time (Spic) reaches or exceeds a predefined minimum time threshold (d). 22. The method according to wherein the noisy signal (Signal) consists of a signal called <> (C claim 1 , C) which is representative of the assistance force (C) output by the assist motor () of the steering.3. The method according to claim 1 , wherein the minimum duration threshold (d) is comprised between 30 ms and 40 ms.5. The method according to claim 1 , wherein the variation threshold (S) and/or the peak holding minimum duration threshold (d) are adjusted depending on the angular acceleration ({umlaut over (θ)}) of the steering wheel.7. The filter according to wherein the minimum duration threshold (d) is comprised between 30 ms and 40 ms.8. The method according to claim 2 , wherein the minimum duration threshold (d) is comprised between 30 ms and 40 ms.12. The method according to claim 2 , wherein the variation threshold (S) and/or the peak holding minimum duration threshold (d) are adjusted depending on the angular acceleration ({umlaut over (θ)}) of the steering wheel.13. The method according to claim 3 , wherein the variation threshold (S) and/or the peak holding ...

DETECTION METHOD OF A STEERING REVERSAL BY MONITORING OF THE TORQUE PROVIDED BY A STEERING ASSIST MOTOR AND APPLICATION OF SAID METHOD FOR EVALUATING THE FRICTION

A method for managing a power steering system, including a step (a) of detecting a reversal in the steering direction which involves acquiring a signal, referred to as a “motor torque signal” (C), representative of the assistance force (C) delivered by the power steering motor, then evaluating the time derivative (δC/δt) of the motor torque signal, then comparing the time derivative of the motor torque signal to a predefined variation threshold (S) in order to detect a derivative peak, greater than the variation threshold (S), that indicates a reversal in the steering direction. The method next includes a friction evaluation step (b) which involves evaluating the friction from the drop, during the reversal in the steering direction, in a so-called “actuation force signal” (C), which is representative of the total actuation force exerted together on the power steering by the driver and by the power steering motor. 2. The method according to wherein the motor torque signal used for the steering reversal detection step (a) consists of the force or torque setpoint (C) which is applied to the assist motor claim 1 , or even by a measured value of the force or the torque (C) which is actually reproduced by the assist motor.4. The method according to wherein it comprises a friction evaluation step (b) comprising acquiring a signal (C) called <> which is representative of the total actuation force jointly exerted on the power steering by the driver and by the assist motor claim 1 , and evaluating the friction force (F) which opposes the steering movements of the power steering from the difference (ΔC) between two values taken by said actuation force signal (C) respectively before and after the steering reversal.5. The method according to wherein the actuation force signal (C) is formed by the sum claim 4 , on the one hand claim 4 , of a steering wheel torque signal representative of the steering wheel torque (C) exerted by the driver on the steering ...

STEERING CONTROL DEVICE AND STEERING-ASSISTING TORQUE CONTROL METHOD THEREOF

A steering control device capable of causing a steering torque to follow a target steering torque when a driver holds a steering wheel for steering, and making an adjustment so that the steering wheel returns to a neutral position at an appropriate speed, when the driver releases his or her hands from the steering wheel. A motor is controlled based on a motor steering assist torque, which is a sum of a first steering assist torque, which is proportional to an integral value of a deviation between the target steering torque and the steering torque, and a second steering assist torque, which is proportional to a motor rotational angular velocity and acting in a direction of suppressing a return speed of the steering wheel when the steering wheel returns to the neutral position. 1. A steering control device , comprising:a steering torque detection unit configured to detect a steering torque acting on a steering shaft;a target steering torque setting unit configured to set a target steering torque;a first steering assist torque calculation unit configured to calculate a first steering assist torque that is proportional to an integral value of a deviation between the target steering torque and the steering torque;a motor rotational angular velocity detection unit configured to detect a rotational angular velocity of a motor configured to apply a steering assist torque to the steering shaft;a second steering assist torque calculation unit configured to calculate a second steering assist torque that is proportional to the rotational angular velocity of the motor and acting in a direction of suppressing a return speed of a steering wheel when the steering wheel returns to a neutral position;an addition unit configured to calculate a motor steering assist torque of the motor based on a sum of the first steering assist torque and the second steering assist torque;a current driver configured to control current of the motor so that the steering assist torque of the motor ...