СЕРВОПРИВОД РУЛЕВОГО МЕХАНИЗМА АВТОМОБИЛЯ И РЕГУЛЯТОР ТОКА ЭЛЕКТРОДВИГАТЕЛЯ

Изобретение относится к рулевому управлению транспортного средства. Сервопривод рулевого механизма автомобиля содержит электродвигатель постоянного тока, датчик момента, прикладываемого водителем к рулевому колесу, датчик скорости движения автомобиля, датчик и регулятор тока электродвигателя. Отличие состоит в том, что для улучшения качества регулирования и упрощения схемы регулятор момента выполнен в виде ПИД-регулятора, коэффициенты усиления которого зависят от скорости движения автомобиля, а регулятор тока выполнен релейным, на базе компаратора ширина петли гистерезиса которого пропорциональна заданному значению тока электродвигателя. Технический результат заключается в улучшении качества регулирования и упрощении схемы. 2 с.п. ф-лы, 2 ил.

УСТРОЙСТВО ОБНАРУЖЕНИЯ ОТКАЗА СИСТЕМЫ УПРАВЛЕНИЯ ТРАНСПОРТНЫМ СРЕДСТВОМ

Изобретение относится к системам управления транспортными средствами, в которых множество компьютеров управления соединены через сеть. Блок управления генерирует сигнал управления на основе рабочего запроса для управления движением транспортного средства путем управления соответствующим приводом посредством сформированного сигнала управления. Процессор соединен с блоком управления посредством сети и формирует и обеспечивает блоку управления дополнительную информацию, используемую для модификации рабочего запроса или сформированного сигнала управления в блоке управления. Посредством этого обеспечивается управление передвижением транспортного средства или динамическим состоянием транспортного средства. Процессор выполняет заданные вычисления на основании вводимой информации мониторинга и передачи результата заданного вычисления. Устройство обнаружения отказа обеспечено в блоке управления и содержит узел вывода, предназначенный для вывода информации мониторинга на процессор, узел приема, предназначенный ...

СЕРВОПРИВОД С МАЛЫМИ ПУЛЬСАЦИЯМИ МОМЕНТА

Изобретение относится к электрическим сервоприводам и предназначено для использования при управлении вращающим моментом на валу механизмов с повышенными требованиями к уровню пульсаций момента на малых частотах вращения. Сервопривод содержит датчик момента на валу, электродвигатель, связанный с валом механизма и состоящий из зубчатого статора с обмоткой и зубчатого безобмоточного ротора, датчик положения ротора электродвигателя, блок управления, задающее устройство, формирующее необходимые сигналы для блока управления. Для снижения пульсаций на валу электродвигатель выполнен трехфазным с числом зубцов на статоре 12, а на роторе 8. Его магнитная система выполнена со взаимным скосом зубцов ротора и статора на величину (0,05 - 0,25)t2, при этом ширина коронки зубцов статора по воздушному зазору bz1=(0,3-0,36)t2, а ротора bz2=(0.39-0.45)t2, где t2 - зубцовый шаг по ротору. Устройство характеризуется упрощенной конструкцией за счет применения трехфазного реактивного индукторного электродвигателя ...

СИСТЕМА ДЛЯ КОМПЕНСАЦИИ ЭФФЕКТА ЗАКРУЧИВАНИЯ ШИН ТРАНСПОРТНОГО СРЕДСТВА

Предложены системы для компенсации эффекта закручивания шин транспортного средства с системами рулевого управления с усилением (варианты). Система содержит электродвигатель, вырабатывающий ток при создании усиления рулевого управления, датчик, способный предоставлять данные о перемещении компонента системы рулевого управления, контроллер. Контроллер запрограммирован на изменение выходной мощности электродвигателя после осуществления парковки на основе данных о перемещении компонента системы рулевого управления и разницы между силой тока электродвигателя во время парковки и заданной величиной силы тока, указывающей на закручивание шины из-за осуществления парковки. Достигается компенсация эффекта закручивания шин. 2 н. и 18 з.п. ф-лы, 3 ил.

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.

СПОСОБ ОПЕРАТИВНОГО ИЗМЕНЕНИЯ КОЛЕИ САМОХОДНОГО КОЛЕСНОГО ТРАНСПОРТНОГО СРЕДСТВА И САМОХОДНОЕ КОЛЕСНОЕ ТРАНСПОРТНОЕ СРЕДСТВО ДЛЯ ЕГО ОСУЩЕСТВЛЕНИЯ

Изобретения относятся к электроприводным самоходным транспортным средствам с изменяемой колеей преимущественно для использования лицами с ограниченными физическими возможностями. Способ реализации заключается в том, что каждое колесо, расположение которого на транспортном средстве определяет колею, поворачивают относительно вертикальной оси, смещенной от статического центра пятна контакта колеса с горизонтальной опорной поверхностью в поперечном направлении, на 180°. Устройство содержит несущую конструкцию с устройством для размещения полезной нагрузки, источником питания, системой управления, по меньшей мере, одним передним и двумя задними колесами. Задние колеса установлены с возможностью принудительного независимого поворота вокруг вертикальной оси посредством приводов. Вертикальные оси поворота, по крайней мере, колес, определяющих колею транспортного средства, смещены от статических центров пятен их контакта с горизонтальной опорной поверхностью в поперечном направлении. Приводы поворота ...

ЭЛЕКТРОДВИГАТЕЛЬ ДЛЯ ЭЛЕКТРОМЕХАНИЧЕСКОГО УСИЛИТЕЛЯ РУЛЯ

Предлагаемое решение может быть использовано в электромеханическом усилителе руля. Технический результат - повышение электромагнитного момента, снижении пульсации и повышение качества работы электромеханического усилителя руля, достигается тем, что в электродвигателе, состоящим из магнитопровода статора с n зубцами, сосредоточенной трехфазной обмотки, выполненной с зубцовыми катушками, и магнитопровода ротора, расположенного на выходном валу усилителя руля, жестко закрепленного через немагнитную втулку и имеющего трапециевидные пазы с постоянными магнитами, сужающимися к наружной цилиндрической поверхности ротора, зубцовые катушки статора располагаются в трех фазных зонах и в каждой фазной зоне по четыре группы, где две группы из последовательно-согласно соединенных катушек и другие две группы из отдельно расположенных катушек, числа полюсов статора и ротора отличаются на четыре, постоянные магниты имеют форму, совпадающую с формой пазов, причем постоянные магниты размещены в пазах так, ...

КАЛЕНДАРЬ

... 1. Календарь, включающий плату и стопу съемных календарных листов, отличающийся тем, что плата содержит верхнее и нижнее основания, расстояние между которыми не менее толщины стопы календарных листов, на верхнем основании выполнено отверстие в форме многоугольника, а каждый календарный лист выполнен в виде трансформируемой развертки пирамиды, число граней которой равно числу сторон многоугольного отверстия и которая снабжена средством для выбирания листа из стопы, при этом поперечный размер календарного листа превышает поперечный размер отверстия на верхнем основании платы.2. Календарь по п.1, отличающийся тем, что основание снабжено одним или несколькими поддерживающими элементами.3. Календарь по п.1, отличающийся тем, что верхнее и нижнее основания выполнены с возможностью разъема.4. Календарь по п.1, отличающийся тем, что верхнее и нижнее основания жестко соединены вдоль части периметра.5. Календарь по п.1, отличающийся тем, что стопа календарных листов выполнена подпружиненной.

ЭЛЕКТРОМЕХАНИЧЕСКИЙ УСИЛИТЕЛЬ РУЛЯ АВТОМОБИЛЯ

Предлагаемое решение относится к средствам управления автомобилем и может быть использовано для осуществления снижения усилия на руле. С целью повышения точности измерения крутящего момента, повышения, эксплуатационной надежности и качества работы электромеханического усилителя руля, в электромеханическом усилителе руля содержащем два соосных вала, датчик момента, выполненный в виде упругого элемента, связывающего валы, и измерителя угла скручивания упругого элемента, датчик положения ротора, бесконтактный электродвигатель, состоящий из магнитопровода статора с зубцами, сосредоточенной трехфазной обмотки с катушками, и магнитопровода ротора, имеющего трапециевидные пазы с постоянными магнитами и тонкие насыщающиеся перемычки, разделенные от выходного вала втулкой, блок управления электродвигателем, измеритель угла скручивания упругого элемента выполнен в виде входного и выходного вращающихся трансформаторов с неподвижными и вращающимися обмотками на каркасах, и электронного преобразователя ...

Усилитель рул дл автомобилей

ЭЛЕКТРОПРИВОД ЭЛЕКТРОМЕХАНИЧЕСКОГО УСИЛИТЕЛЯ РУЛЕВОГО УПРАВЛЕНИЯ

Изобретение относится к электроприводам электромеханических усилителей рулевого управления. Электропривод содержит мостовой однофазный транзисторный силовой преобразователь с соответствующими датчиками и блоком управления, к выходным клеммам которого подключена якорная цепь электродвигателя постоянного тока. Для повышения безопасности движения электродвигатель выполнен с независимой обмоткой электромагнитного возбуждения, поэтому в случае выхода из строя транзистора силового преобразователя исключается работа электродвигателя в неконтролируемом режиме динамического торможения при вращении водителем рулевого колеса. 1 ил.

УСИЛИТЕЛЬ РУЛЕВОГО УПРАВЛЕНИЯ

... 1. Усилитель рулевого управления, включающий в себя корпус, в котором на подшипниках установлены соосно рулевой и ведомый валы, крышки, фиксирующие подшипники в корпусе, и кронштейн крепления усилителя, отличающийся тем, что по меньшей мере одна из крышек выполнена штамповкой из листовой стали.2. Усилитель рулевого управления по п.1, отличающийся тем, что кронштейн крепления усилителя выполнен заодно с крышкой.

РУЛЕВОЕ УПРАВЛЕНИЕ ТРАНСПОРТНОГО СРЕДСТВА

Изобретение относится к механическому рулевому управлению транспортного средства с электрическим усилителем и может применяться в автомобилях повышенной проходимости, работающих преимущественно в маневровых режимах. Рулевое управление транспортного средства содержит рулевое колесо 1, рулевой механизм 2, датчик 3 момента, электродвигатель 4, усилитель мощности 5, коммутатор 6, компаратор 7, датчик тока 8, задатчик 9 порогового значения скорости движения, блок 10 преобразования сигналов датчика момента, блок 11 преобразования сигналов датчика тока, датчик 12 скорости движения, первый блок 13 логики, сумматор 14, первый регулятор 15, второй блок 16 логики и второй регулятор 17. Предлагаемое рулевое управление транспортного средства позволяет повысить быстродействие в работе электроусилителя рулевого управления транспортного средства и гарантировать желаемое снижение требуемого момента на рулевом колесе при любых углах поворота колес при достаточной мощности установленного электродвигателя.

УСИЛИТЕЛЬ РУЛЕВОГО ПРИВОДА ДЛЯ БЕЗРЕЛЬСОВОГО ТРАНСПОРТНОГО СРЕДСТВА

В автомобиле 2, оснащенном гибридным приводом в виде агрегата "ДВС-генератор" 16, активное усиление рулевого привода осуществляется за счет того, что независимые приводы 8, 10 внешнего и внутреннего колес регулируются в зависимости от угла поворота управляемых колес 4, 6 путем установки разности моментов так, что фактическая процентная разность в числе оборотов колес приближается к заданной процентной разнице в числе оборотов. Вследствие того, что при повороте мощность привода на внешнем колесе 4 больше, чем на внутреннем колесе 6, прикладываемое через рулевое управление 20, 22, 12 усилие, необходимое для поворота управляемых колес, значительно меньше, чем без разности моментов. 3 з.п. ф-лы, 7 ил.

СЕРВОПРИВОД РУЛЕВОГО МЕХАНИЗМА АВТОМОБИЛЯ И РЕГУЛЯТОР ТОКА ЭЛЕКТРОДВИГАТЕЛЯ

... 1. Сервопривод рулевого механизма автомобиля, содержащий датчик момента, прикладываемого водителем к рулевому колесу, выход которого подключен к первому входу первого суммирующего элемента, пропорциональный и интегральный усилители, первые входы которых подключены к выходу первого суммирующего элемента, а вторые входы, через первый и второй формирователи пропорционального и интегрального коэффициентов усиления, подключены к выходу датчика скорости автомобиля, при этом выходы пропорционального и интегрального усилителей подключены, соответственно, к первому и второму входам второго суммирующего элемента, выход которого, через последовательно соединенные регулятор тока электродвигателя, силовой преобразователь и датчик тока, подключен к электродвигателю, отличающийся тем, что в него введены первый дифференциальный усилитель, первый вход которого подключен к выходу первого суммирующего элемента, второй вход, через вновь введенный третий формирователь коэффициента усиления, подключен к выходу ...

ЭЛЕКТРОМЕХАНИЧЕСКИЙ УСИЛИТЕЛЬ РУЛЯ АВТОМОБИЛЯ

... 1. Электромеханический усилитель руля автомобиля, содержащий корпус и расположенные в нем два соосных вала (входной и выходной), m-фазный электродвигатель с возбуждением от тангенциально намагниченных постоянных магнитов, магнитопровод статора встроен в корпус усилителя, магнитопровод статора выполнен с явно выраженными полюсами, расположенными в Nm равных чередующихся фазных зонах, где N - число фазных зон, с числом полюсов Nmk, где k=1...n - число полюсов в фазной зоне, на которых размещены катушки - по одной на полюс, в каждой зоне размещены несколько включенных параллельно - согласно катушек, магнитопровод ротора расположен на выходном валу, выполнен безобмоточным многополюсным, числа полюсов на статоре и на роторе отличаются на N, датчик положения ротора, датчик момента, выполненный в виде торсиона и измерителя угла скручивания торсиона, торсион расположен внутри полости, образованной входным и выходным валом, отличающийся тем, что на плюсах статора через немагнитный зазор, соизмеряемый ...

ДАТЧИК МОМЕНТА ДЛЯ ЭЛЕКТРОМЕХАНИЧЕСКОГО УСИЛИТЕЛЯ РУЛЯ

... 1. Датчик крутящего момента для электромеханического усилителя руля, составленный из упругого элемента с предельным углом скручивания δпр, связывающего входной вал электромеханического усилителя руля с выходным валом, входного и выходного вращающихся трансформаторов, которые включают неподвижные статорные обмотки с числом пар полюсов р, расположенные на электроизоляционных каркасах и закрепленные на корпусе усилителя руля и вращающиеся роторные обмотки с числом пар полюсов р, расположенные на электроизоляционных каркасах и связанные соответственно с входным и выходным валами, электронного преобразователя в виде печатной платы, ! отличающийся тем, что ! электронный преобразователь включает в себя генератор последовательности входных сигналов, соединенный через первый и второй фильтры низких частот с обмотками входного вращающего трансформатора, триггер Шмидта, вход которого соединен с одной из обмоток выходного вращающегося трансформатора, а выход триггера Шмидта соединен с входом синхронного ...

УСТАНОВОЧНАЯ КОНСТРУКЦИЯ УСТРОЙСТВА С ПОДУШКОЙ БЕЗОПАСНОСТИ ДЛЯ ЗАЩИТЫ КОЛЕНЕЙ И ПРИВОДНОГО ЭЛЕКТРОДВИГАТЕЛЯ РУЛЕВОГО МЕХАНИЗМА С ЭЛЕКТРИЧЕСКИМ УСИЛИТЕЛЕМ

... 1. Установочная конструкция устройства с подушкой безопасности для защиты коленей и приводного электродвигателя рулевого механизма с электрическим усилителем, содержащая: ! устройство с подушкой безопасности для защиты коленей, включающее в себя подушку безопасности для защиты коленей в сложенном состоянии, расположенную в нижней наружной периферийной лицевой стороне рулевой колонки в крышке колонки, закрывающей заднюю концевую часть рулевой колонки, которая поддерживается элементом упрочнения приборной панели, продолжающимся внутри приборной панели вдоль направления ширины транспортного средства, и средство нагнетания, способное подавать газ в подушку безопасности для защиты коленей, выполненное так, что когда подаваемый газ принимается, подушка безопасности для защиты коленей способна надуваться и развертываться из крышки колонки по направлению к стороне колена водителя; ! приводной электродвигатель в рулевом механизме с электрическим усилителем, прикрепленный к рулевой колонке в качестве ...

УСТРОЙСТВО РУЛЕВОГО УПРАВЛЕНИЯ С УСИЛИТЕЛЕМ И СХЕМА УПРАВЛЕНИЯ ДЛЯ УСТРОЙСТВА РУЛЕВОГО УПРАВЛЕНИЯ С УСИЛИТЕЛЕМ

РЕМЕННАЯ ПЕРЕДАЧА

УСИЛИТЕЛЬ РУЛЕВОГО ПРИВОДА ДЛЯ БЕЗРЕЛЬСОВОГО ТРАНСПОРТНОГО СРЕДСТВА

В автомобиле 2, оснащенном гибридным приводом в виде агрегата "ДВС-генератор" 16, активное усиление рулевого привода осуществляется за счет того, что независимые приводы 8, 10 внешнего и внутреннего колес регулируются в зависимости от угла поворота управляемых колес 4, 6 путем установки разности моментов так, что фактическая процентная разность в числе оборотов колес приближается к заданной процентной разнице в числе оборотов. Вследствие того, что при повороте мощность привода на внешнем колесе 4 больше, чем на внутреннем колесе 6, прикладываемое через рулевое управление 20, 22, 12 усилие, необходимое для поворота управляемых колес, значительно меньше, чем без разности моментов. 3 з.п. ф-лы, 7 ил.

УСТРОЙСТВО УПРАВЛЕНИЯ РУЛЕНИЕМ И СПОСОБ УПРАВЛЕНИЯ РУЛЕНИЕМ

... 1. Устройство управления рулением, содержащее:входной рулевой механизм, в котором входной вал вращается посредством операции руления водителем;выходной поворотный механизм, выполненный с возможностью вращать колесо посредством вращения выходного вала;муфту, выполненную с возможностью соединять входной вал и выходной вал таким образом, что входной вал и выходной вал способны соединяться и разъединяться;первый электромотор, выполненный с возможностью обеспечения движущей силы для выходного поворотного механизма;второй электромотор, выполненный с возможностью обеспечения движущей силы для выходного поворотного механизма;первый модуль управления, выполненный с возможностью управлять приведением в действие первого электромотора;второй модуль управления, выполненный с возможностью управлять приведением в действие второго электромотора; имодуль определения крутящего момента, выполненный с возможностью определять крутящий момент выходного вала, при этом:по меньшей мере, первый электромотор и модуль ...

Колесный узел для роботизированного транспортного средства и оснащенное им роботизированное транспортное средство.

Группа изобретений относится к колесным узлам для роботизированных транспортных средств и к оснащенным ими роботизированным транспортным средствам. Колесный узел для роботизированного транспортного средства включает в себя опорную платформу, контроллер, поворотный узел, направляющий элемент, образующий канал, мотор-колесо и кабель, содержащий первую секцию, проходящую через канал, функционально связанную с мотор-колесом и зафиксированную относительно направляющего элемента, и вторую секцию, функционально связанную с контроллером и по меньшей мере частично намотанную на направляющий элемент в нейтральном положении. При повороте мотор-колеса в первом направлении вторая секция кабеля наматывается на направляющий элемент в свернутое положение, в котором запас длины служит для обеспечения возможности поворота мотор-колеса. При повороте мотор-колеса во втором направлении вторая секция кабеля по меньшей мере частично сматывается с направляющего элемента в развернутое положение, в котором запас ...

Устройство рулевого управления колесного транспортного средства

УСТРОЙСТВО РУЛЕВОГО УПРАВЛЕНИЯ КОЛЕСНОГО ТРАНСПОРТНОГО СРЕДСТВА, содержащее связанный с рулевым колесом блок формирования сигналов, пропорциональных углу поворота колес, состоящий из задатчика, преобразователя и сумматора, и подключенные к его выходу следящие приводы по числу управляемых колес, отличающееся тем, что, с целью повыщения эффективности управления на малых скоростях, оно снабжено блоком коррекции углового передаточного числа, состоящим из сумматора, умножителя, блока сравнения, блока определения изменения сигнала задатчика и последовательно соединенных элемента выбора максил альной скорости, вход которого подключается к датчикам скорости двух управляемых колес, и двухстороннего ограничителя скорости, выход которого подключен к первому входу умножителя, вторым входам датчиков обратной связи следящих приводов двух колес и к первому входу сумматора блока формирования сигналов, пропорциональных углу поворота, причем следящий привод одного из колес содержит ключевой элемент, информационный ...

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). ...

Servolenkungs-Baugruppe mit elektrischer Servo-Unterstützung und mit einer Hülse zur Übersetzung der Bewegung

Eine Servolenkungs-Baugruppe (10) hat eine Lenkwelle (16) und eine Ritzelwelle (18). Die Lenkwelle (16) enthält mindestens einen Zapfen auf der Lenkwelle (36) und die Ritzelwelle (18) enthält mindestens einen Zapfen auf der Ritzelwelle (38). Die Zapfen (36) und (38) befinden sich jeweils innerhalb mindestens eines schraubenlinienförmigen Schlitzes (32) und mindestens eines axialen Schlitzes (34), die innerhalb eines Hülsen-Elements (28) ausgeformt sind. Das Hülsen-Element (28) übersetzt Differenzen in der Rotation zwischen Lenkwelle (16) und Ritzelwelle (18) in eine lineare Bewegung. Ein Drehmoment-Sensor (20) registriert die lineare Bewegung des Hülsen-Elements (28) und liefert ein Signal, um die Servo-Unterstützung für die Ritzelwelle (18) zu steuern.

Steering gear for industrial truck, particularly forklift truck, has transmission units formed by drive gear and output gear, where drive gear and output gear are coupled with outputs

The steering gear (10) has a drive (11), through which a steering movement is introduced in the form of a twisting motion. The drive is stand in connection with multiple outputs (12,13). Transmission units are formed by a drive gear (14) and output gear (15,16). The drive gear and the output gear are coupled with outputs. The drive gear and the output gear are constructed as circular or non-circular gear or friction wheels, which are mounted centrally or eccentrically.

Servolenkung

VORRICHTUNG ZUM FESTSTELLEN EINER FEHLFUNKTION EINER ELEKTROMOTRISCHEN SERVOLENKUNG EINES KRAFTFAHRZEUGS

Electric servo steering appliance for motor vehicle

The appliance has a yoke (1) consisting of a tubular part and a magnetic field system (10) on its internal peripheral surface. A hollow motor shaft (5) is located coaxially in the yoke so that it can rotate, the shaft carrying a motor armature (6a) which with the field system forms an electric motor. A drive shaft (3) is located coaxially in the hollow shaft so that it can slide axially, and is provided with a threaded section (3a). The rotary movement of the motor shaft is converted into an axial movement of the drive shaft by a nut (8) fixed in the motor shaft, engaging with the thread on the drive shaft. An extension of the yoke, enclosing an end of the motor shaft and adjacent to the nut, has an internal diameter greater than the outer diameter of the nut ...

Steering system for wheel of vehicle, has decoupling device provided with axial decoupling unit for vibration isolation in axial direction and circumferential decoupling unit for vibration isolation in circumferential direction

The steering system (1) has a steering shaft (3) that is rotatably connected to a steering gear. The rotational movement of the steering shaft is converted into displacement movement of a steering rod (5). A decoupling device is arranged in transmission path between steering shaft and steering rod. The decoupling device is provided with an axial decoupling unit for vibration isolation in axial direction, and a circumferential decoupling unit for vibration isolation in circumferential direction.

Kooperative Steuervorrichtung einer motorbetriebenen Servolenkvorrichtung für ein intelligentes Einparkhilfssystem

Kooperative Steuervorrichtung (20) zur Berechnung eines Winkelgeschwindigkeits-Steuerwerts zum Steuern einer motorbetriebenen Servolenkvorrichtung (30) eines intelligenten Einparkhilfssystems (10) (SPAS = Smart Parking Assistant System), die umfasst: eine Positionssteuereinheit (22), die konfiguriert ist, um eine Ziellenkwinkelgeschwindigkeit, mit der ein Fahrzeug automatisch gesteuert werden soll, aus einem von einem Lenkwinkelsensor (40) eingegebenen Radlenkwinkel und einem von dem SPAS (10) eingegebenen angeforderten Lenkwinkel zu berechnen, eine Grenzwert-Einstellungseinheit (24), die konfiguriert ist, in Bezug auf den angeforderten Lenkwinkel eine angeforderte Lenkwinkelgeschwindigkeit sowie darauf basierend eine angeforderte Lenkwinkelbeschleunigung zu berechnen, und dazu konfiguriert ist, wenn die angeforderte Lenkwinkelbeschleunigung einen übermäßigen angeforderten Grenzeinstellungswert überschreitet, den angeforderten Lenkwinkel als einen übermäßigen Lenkwinkel zu bestimmen sowie ...

Torque amplifier for servo-steering in vehicle - has servo-motor driving amplifier shaft and friction coupling linking amplifier shaft to input-output shaft unit

The torque amplifier has a friction coupling (5) comprising at least two parallel sub-couplings (6, 7) that engage automatically one after the other depending on the magnitude of the input torque at the input shaft (1). The force operating the coupling comes to act on the later sub-coupling via the previously-engaged subcoupling and only after exceeding the force of a spring (13) at the previously-engaged subcoupling. The coupling is located between an input and output shaft-unit (1-3) and a coupling bell (9) driven by the amplifier shaft (4) and concentric with the shaft unit. ADVANTAGE - Progressive torque characteristics.

ELEKTRISCHE SERVOLENKEINRICHTUNG FUER MOTORFAHRZEUGE

Elektrische Servolenkung

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 ...

Motorbetriebene Servolenkung für Fahrzeuge.

Reaktionskrafterzeugungsvorrichtung und Lenkvorrichtung

Bereitstellung einer Reaktionskrafterzeugungsvorrichtung, deren Größe unter Sicherstellung einer Reaktionskraft, die der Eingabe eines Fahrers entgegenwirken kann, reduziert werden kann. Eine Reaktionskrafterzeugungsvorrichtung (100) umfasst eine Lenkwelle (104), die mit einem Lenkglied (200), an dem eine Lenkungsbetätigung von einem Fahrer durchgeführt werden soll, verbunden ist, einen Direktantriebsmotor (110), der mit der Lenkwelle verbunden ist, und eine elektromagnetische Bremse (120), die mit der Lenkwelle verbunden ist.

Lenkvorrichtung für Kraftfahrzeuge

Verbesserungen an elektrischen Schaltungen

UNTERSETZER VON ELEKTRISCHER SERVOLENKVORRICHTUNG

Die vorliegende Offenbarung sieht einen Untersetzer einer elektrischen Servolenkvorrichtung vor, welcher Untersetzer enthält: eine Schneckenwelle mit einem ersten Schneckenwellenlager und einem zweiten Schneckenwellenlager auf einem mit einem Motor verbundenen ersten Ende bzw. einem entgegengesetzten zweiten Ende; ein Getriebegehäuse, das das erste Schneckenwellenlager, das zweite Schneckenwellenlager und die Schneckenwelle aufnimmt; ein erstes Stützteil, das zwischen dem zweiten Schneckenwellenlager und dem Getriebegehäuse angeordnet ist und äußere Stützteile auf der äußeren Seite hiervon, um die innere Seite des Gehäuses zu stützen, und innere Stützteile auf der inneren Seite hiervon, um das zweite Schneckenwellenlager zu stützen, hat; und ein zweites Stützteil, das mit dem Getriebegehäuse gekoppelt ist und die äußere Seite des zweiten Schneckenwellenlagers durch das erste Stützteil stützt.

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 ...

HILFSKRAFTLENKUNG, INSBESONDERE FUER KRAFTFAHRZEUGE.

MOTORSTEUERSYSTEM UND ELEKTRISCHES SERVOLENKSYSTEM

Eine Motorsteuervorrichtung mit mehreren Steuerschaltungen und mehreren Motorschaltungen. Die Motorschaltungen sind mittels einer Inverterschaltung und einer Spule ausgebildet. Die mehreren Motorschaltungen werden durch eine beliebige der Steuerschaltungen gesteuert, oder in einer aufgeteilten Weise durch mehrere Steuerschaltungen. In diesem Zustand wird, wenn ein Fehler in einer Steuerschaltung, die die Motorschaltungen steuert, erfasst wird, eine Umschaltsteuerung durchgeführt, um so diese Steuerschaltung abzutrennen und eine Steuerung der entsprechenden Motorschaltung durch eine andere normale Steuerschaltung durchzuführen. Durch Durchführen dieser Fehlererfassung und ruhiges und schnelles Umschalten einer Steuerung wird eine Wiederherstellung aus Fehlern in der Motorsteuervorrichtung ausgeführt und eine Zuverlässigkeit verbessert.

Getriebebaugruppe für eine elektromechanische Servolenkung

Die Erfindung betrifft eine Getriebebaugruppe (10) für eine elektromechanische Servolenkung (8), mit einer Riemenscheibe (22), die um eine Längsachse (A) drehbar ist sowie durch einen Treibriemen (20) angetrieben werden kann, und einer Getriebemutter (24), die um die Längsachse (A) drehbar ist sowie in einen Spindelabschnitt (26) einer Zahnstange (12) eingreifen und die Zahnstange (12) axial verschieben kann, wobei ein separater Kopplungsring (28) vorgesehen ist, der ein erstes Formschlusselement (30) zur drehfesten Verbindung mit der Getriebemutter (24) sowie ein zweites Formschlusselement (32) zur drehfesten Verbindung mit der Riemenscheibe (22) aufweist.

Elektrische Servolenkungs-Steuervorrichtung und elektrisches Servolenkungs-Steuerverfahren

Elektrische Servolenkungs-Steuervorrichtung zum Unterstützen einer Lenkkraft eines Lenkrads eines Fahrzeugs, wobei die elektrische Servolenkungs-Steuervorrichtung eine Steuereinheit (10) zum Liefern eines Stroms zum Ansteuern eines elektrischen Motors umfasst,wobei die Steuereinheit (10) vorab für eine jeweilige Komponente (12 bis 15) in einem Speicherabschnitt eine erste Überhitzungsschutz-Kennlinie entsprechend einer Selbsterwärmung und eine zweite Überhitzungsschutz-Kennlinie entsprechend einer Umgebungstemperatur speichert,wobei eine Überhitzungsschutz-Kennlinie eine entsprechende Beziehung bestimmt zwischeneinem Wärmequellen-Strom der jeweiligen Komponente (12 bis 15)und einem Überhitzungsschutz-Koeffizienten, der eine Anstiegs/Verringerungsgröße eines oberen Stromgrenzwerts definiert,und sequenziell den oberen Stromgrenzwert der jeweiligen Komponenten (12 bis 15) korrigiert, unter Verwendung von Überhitzungsschutz-Koeffizienten sowohl der ersten Überhitzungsschutz-Kennlinie als auch ...

Device for changing the wheel setting of the wheels of motor vehicles

The device described serves to steer preferably the rear wheels (1) of a motor vehicle. The steering movement is applied to the wheel (1) by means of an electric motor (12) which, for this purpose, drives an adjustment spindle (13) which, by means of a nut (14) supported fixed in terms of rotation, displaces in the transverse direction of the vehicle (double arrow 6) the longitudinal arm (3), connected permanently to the wheel carrier, of the wheel suspension at its front end. A simple, compact and protected constructional unit is thus obtained. ...

Nutzfahrzeuglenkung

Kraftfahrzeug mit System und Verfahren zum Steuern einer elektrischen Servolenkunterstützung

Ein Kraftfahrzeug kann eine Maschine, ein elektrisches Servolenksystem und wenigstens eine Steuereinheit umfassen. Die wenigstens eine Steuereinheit kann während eines Ereignisses eines automatischen Stopps der Maschine einen verfügbaren Strom für das elektrische Servolenksystem mit einer ersten Rate auf einen von null verschiedenen Schwellenwert reduzieren, bevor der Kraftstoff zu der Maschine unterbrochen wird, und den verfügbaren Strom für das elektrische Servolenksystem mit einer von der ersten Rate verschiedenen zweiten Rate von dem von null verschiedenen Schwellenwert auf 0 reduzieren, wenn der Kraftstoff zu der Maschine unterbrochen ist.

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.

Klemmkörper-Freilaufkupplung

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 ...

Motor vehicle steering device has motor unit coaxial to telescopic shaft and with hollow motor shaft connected to or forming further shaft, end of hollow telescopic shaft inserted into motor unit

The device has a telescopic shaft, a further shaft coupled to steered vehicle wheels, a torsion rod, a motor unit, a shaft rotation sensing arrangement and a controller that controls the motor unit depending on the angular different between the shafts coaxial to the telescopic shaft and with a hollow motor shaft. The end of the nearer hollow telescopic shaft remote from the steering wheel is axially inserted into the motor unit. The device has a telescopic shaft (14,15) with two coaxial hollow shafts joined to a steering wheel, a further shaft (28) coupled to steered vehicle wheels and axially fixed to the hollow shaft remote from the steering wheel via a torsion rod (30), a motor unit (22) with a drive connection to the further shaft, a sensing arrangement (34,35) providing signals representing rotations of the telescopic and further shafts and a controller that controls the motor unit depending on the angular different between the shafts. The motor unit is arranged coaxially relative ...

Verfahren zum Betreiben eines Lenksystems eines Kraftfahrzeugs und Lenksystem

Es wird ein Verfahren zum Betreiben eines Lenksystems (2) eines Kraftfahrzeugs mit einer Hilfskraftlenkung (4) zur Einbringung eines Unterstützungsmoments in ein Lenkgetriebe (8) beschrieben, wobei die Hilfskraftlenkung (4) zumindest zwei elektromechanische Aktoren (22, 32) umfasst. Ein Zustand (70) des potentiell eingefrorenen Lenksystems (2) wird ermittelt. Ein jeweiliges Soll-Unterstützungsmoment (24; 34) der zumindest zwei elektromechanischen Aktoren (22, 32) wird in Abhängigkeit von dem ermittelten Zustand (70) derart ermittelt, so dass die zumindest zwei elektromechanischen Aktoren (22, 32) zur Erzeugung einer Verlustleitung gegensinnig betrieben werden.

Lenkeinrichtung für ein Kraftfahrzeug

Schneckengetriebe

Die Erfindung betrifft ein Schneckengetriebe (1) mit einer drehbar gelagerten Schneckenwelle (10), und mit einer Einrichtung (40) zum Ausgleichen eines unerwünschten Axialspiels der Schneckenwelle (10).Um ein Schneckengetriebe (1) zu schaffen, das einfach aufgebaut und kostengünstig herstellbar ist, umfasst die Einrichtung (40) zum Ausgleichen des unerwünschten Axialspiels der Schneckenwelle (10) zwei Druckkörper (25,26), zwischen denen die Schneckenwelle (10) in axialer Richtung durch eine Tellerfedereinrichtung (20) eingespannt ist, die einem der Druckkörper (25,26) zugeordnet ist.

Verfahren zum Erfassen von Lenkungsfehlstellungen einer adaptiven Lenkung eines Kraftfahrzeugs

Die Erfindung betrifft ein Verfahren zum Erfassen von Lenkungsfehlstellungen einer adaptiven Lenkung eines Kraftfahrzeugs (2), wobei die adaptive Lenkung einen Lenkradwinkelsensor (4) zum Erfassen eines Wertes repräsentativ für einen Lenkradwinkel (LW), eine Einrichtung (6) zur Erfassung eines Wertes repräsentativ für einen adaptiven Winkel (AW) und einer Radwinkelerfassungseinrichtung (18) zum Erfassen eines Wertes repräsentativ für einen Radwinkel (RW) aufweist, mit den Schritten:Erfassen eines Wertes repräsentativ für den Lenkradwinkel (LW),Erfassen eines Wertes repräsentativ für den adaptiven Winkel (AW),Erfassen und/oder Bestimmen eines Wertes repräsentativ für den Radwinkel (RW),Bilden eines Vergleichswertes (VW) unter Auswertung des Wertes repräsentativ für den Lenkradwinkel (LW) und des Wertes repräsentativ für den adaptiven Winkel (AW) und des Wertes repräsentativ für den Radwinkel (RW), undErzeugen eines Fehlersignals (FS), wenn ein Vergleich des Vergleichswertes (VW) mit einem ...

Lenkungssteuerungssystem zum Steuern einer Lenkung für ein Kraftfahrzeug und Verfahren zum Steuern einer Lenkung für ein Kraftfahrzeug

Die Erfindung betrifft ein Lenkungssteuerungssystem (1) zum Steuern einer Lenkung (51) für ein Kraftfahrzeug (50), umfassend einen Indexsensor (2) an einer Lenkwelle (53) der Lenkung (51), wobei die Lenkwelle (53) mit einem Lenkrad (52) mechanisch verbunden ist, eine Steuerung (4) zum Steuern eines von einem Unterstützungsmotor (58) der Lenkung (51) bereitgestellten Unterstützungsmoments, wobei der Indexsensor (2) als Multiindexsensor (3) ausgebildet ist, wobei die Steuerung (4) derart ausgebildet ist, auf Grundlage eines von dem Multiindexsensor (3) bereitgestellten Lenkradwinkelsignals (6) das von dem Unterstützungsmotor (58) bereitgestellte Unterstützungsmoment zu steuern. Ferner betrifft die Erfindung ein zugehöriges Verfahren zum Steuern einer Lenkung (51) für ein Kraftfahrzeug (50).

Abstands- und Vorspannungseinstellung für Lenkmechanismus unter Verwendung piezoelektrischer Elemente

Ein Lenkmechanismus mit einem piezoelektrischen Element zum Einstellen von Komponentenabstand und -vorspannung basierend auf Lenkeingaben, Straßeneingaben und Betriebszeit. Das piezoelektrische Element ist zur elektrischen Einstellung im Lenkmechanismus positioniert, so dass der Abstand und die Vorspannung in Reaktion auf Lenkeingaben, Straßeneingaben und Betriebszeit elektrisch eingestellt werden können. Diese Anordnung ermöglicht niedrige Vorspannung und geringe Reibung, wenn das Fahrzeug über ebene Straßenbedingungen gefahren wird. Wenn eine raue Straßenbedingung detektiert wird, können Abstand und Vorspannung elektrisch erhöht werden, um Geräusche zu minimieren. Das offenbarte erfindungsgemäße Konzept kann in einer Vielzahl von Lenkmechanismen Anwendung finden, um NVH zu minimieren oder zu eliminieren, wenn das Fahrzeug über raue Oberflächen gefahren wird. Unter anderem kann das piezoelektrische Element in elektrischen Zahnstangenservolenksystemen oder in elektrischen Schneckenrad-( ...

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.

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.

Elektrische Servolenkung

Antriebsachse für ein Kraftfahrzeug

Vorgeschlagen werden eine Antriebsachse (1) und ein Kraftfahrzeug mit der Antriebsachse (1). Die Antriebsachse (1) umfasst einen Achskörper (2), in dem wenigstens eine Achswelle (3) verläuft. Außerdem weist die Antriebsachse (1) wenigstens einen Radträger (5), der an einem radseitigen Ende (4) des Achskörpers (2) angeordnet ist, und wenigstens eine Lenkbaugruppe (6) auf. Die Antriebsachse (1) ist vorzugsweise als Starrachse ausgebildet und zeichnet sich erfindungsgemäß dadurch aus, dass der Achskörper (2) eine Aufnahmestruktur (7) zur Aufnahme eines Antriebs (8) aufweist und dass die Lenkbaugruppe (6) unmittelbar mit dem Achskörper (2) verbunden ist.

Fahrzeuglenkeinrichtung

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

Elektrische Servolenkvorrichtung

Eine elektrische Servolenkvorrichtung, welche aufweist: einen Lenkdrehmomentsensor (6), welcher ein Lenkdrehmoment detektiert, welches durch einen Fahrer auf ein Lenkrad angewandt wird; einen Motor (7), welcher eine Antriebskraft an ein Lenksystem zum Unterstützen einer Lenkkraft von dem Fahrer bereitstellt; und eine CPU, welche ein Antriebssignal zum Antreiben des Motors (7) ausgibt, gemäß dem durch den Lenkdrehmomentsensor (6) detektierten Lenkdrehmoment; wobei die elektrische Servolenkvorrichtung beinhaltet: ein Überwachungs-/Steuermittel, welches ein Versagen der CPU überwacht und das Antriebssignal zum Antreiben des Motors (7) zu der Zeit des Versagens der CPU steuert; wobei das Überwachungs-/Steuermittel einen ersten Steuermodus zum Aussetzen des Antriebs des Motors (7), und einen zweiten Steuermodus zum kontinuierlichen Steuern des Motors (7) mit einem provisorischen Antriebssignal, anstelle von dem und zum Beschränken des Antriebssignals von der CPU hat; und wobei, wenn das Überwachungs ...

LENKUNG MIT ELEKTRISCHER HILFSKRAFT.

Servolenkung mit einem elektrischen Motor.

Fahrunterstützungsvorrichtung und Verfahren eines Steuerns/Regelns einer Fahrunterstützungsvorrichtung

Bereitgestellt sind eine Fahrunterstützungsvorrichtung, welche dazu fähig ist, in einer bevorzugten Weise Warnvibrationen zu erzeugen, welche eine Abweichung eines Fahrzeugs in Bezug auf einen Fahrweg melden, und ein Verfahren zum Steuern/Regeln dieser. Eine Fahrunterstützungsvorrichtung (14) umfasst eine Fahrunterstützungs-Steuerungsvorrichtung/Fahrunterstützungs-Regelungsvorrichtung (140), die einen Fahrer von einer Gegen-Abweichungsrichtung oder einer Abweichungsrichtung durch Hervorrufen einer Lenkwinkelbeschleunigung (aθ) in der Abweichungsrichtung und der Lenkwinkelbeschleunigung (aθ) in der Gegen-Abweichungsrichtung, die voneinander unterschiedlich sind, wenn Warnvibrationen erzeugt werden, in Kenntnis setzt, wobei ein nach der Zeit abgeleiteter Wert eines Lenkwinkels (θstr) eines Lenkrades (20) als eine Lenkwinkelgeschwindigkeit (Vθ) definiert ist und ein nach der Zeit abgeleiteter Wert der Lenkwinkelgeschwindigkeit (Vθ) als die Lenkwinkelbeschleunigung (aθ) definiert ist.

Winkellagesensor, der so arbeitet, dass er eine hoch lineare magnetische Flussdichte misst

Winkellagesensor, welcher aufweist:Ein hartmagnetisches Bauteil, welches mit einem drehbaren Bauteil verbunden ist, wobei das hartmagnetische Bauteil einen Umfang aufweist und in einer Umfangsrichtung hiervon magnetisiert ist, um eine magnetisches Feld hierherum zu erzeugen;ein weichmagnetisches Bauteil, welches im Einflussbereich des durch das hartmagnetische Bauteil erzeugten Magnetfelds angeordnet ist, um einen magnetischen Kreis auszubilden, wobei eine Drehung des drehbaren Bauteils die Relativlage zwischen dem hartmagnetischen Bauteil und dem weichmagnetischen Bauteil ändert und bewirkt, dass sich eine magnetische Flussdichte in dem magnetischen Kreis ändert; undeinen Magnetflussdichtenmesssensor, welcher mit einem Abstand von dem weichmagnetischen Bauteil entfernt angeordnet ist, wobei der Magnetflussdichtenmesssensor arbeitet, um die magnetische Flussdichte in dem magnetischen Kreis zu messen, um ein Signal als eine Funktion der magnetischen Flussdichte als eine Angabe einer Winkellage ...

SERVOLENKUNGSEINRICHTUNG.

Power steering system for vehicle

The power steering system is such that the switch-over action in the drive region of the position member (drive 10), which controls the steering movement, is achieved by a direct transmission process which approximates to the original steering wheel movement. The switch-over action is carried out through a 'steer by wire' function in which the first steering movement as desired by the driver is blocked and the steering movement is controlled exclusively via the servo system.

Synchronisieren von Lenkungssteuergeräten eines Fahrzeugs

Die Erfindung betrifft ein Verfahren zum Synchronisieren von Lenkungssteuergeräten (32, 34) eines Fahrzeugs (11),wobei ein erstes Lenkungssteuergerät (32) zum Steuern eines ersten Elektromotors (22) und wenigstens ein zweites Lenkungssteuergerät (34) zum Steuern eines zweiten Elektromotors (24) bereitgestellt ist, wobei die Elektromotoren (22, 24) jeweils mit einem Lenkgetriebe (17) des Fahrzeugs (11) gekoppelt sind,wobei die Lenkungssteuergeräte (32, 34) jeweils sich periodisch wiederholende Abarbeitungszyklen ausführen;und wobei das Verfahren aufweist:- Verändern des Startzeitpunktes von wenigstens einem Abarbeitungszyklus (100) des ersten Lenkungssteuergeräts (32), sodass dieses zeitlich synchron mit dem zweiten Lenkungssteuergerät (34) die Abarbeitungszyklen (100) abarbeitet;- Ansteuern der jeweiligen Elektromotoren (22, 24) mit den synchronisierten Lenkungssteuergeräten (32, 34) zum Einstellen eines Lenkwinkels mittels des Lenkgetriebes (17).Ferner betrifft die Erfindung ein Lenksystem ...

Elektrische Servolenkung

POWER-ASSISTED RACK AND PINION STEERING GEAR

Lenksteuerungsvorrichtung und eine diese Vorrichtung verwendende Lenkvorrichtung

Eine Lenksteuerungsvorrichtung, die aufweist: eine Reibdrehmomenteinstellungsvorrichtung zum Einstellen eines auf eine Lenkung aufzubringenden Reibdrehmomentwerts (Tt) auf der Grundlage von Informationen, die einen Zustand eines Fahrzeugs darstellen; eine Solllenkwinkeleinstellungsvorrichtung zum Einstellen eines Solllenkwinkel (θt) auf der Grundlage des eingestellten Reibdrehmoments (Tt); eine Zusatzreibdrehmomenteinstellungsvorrichtung zum Einstellen eines Zusatzreibdrehmoment (Tc) auf der Grundlage einer Abweichung zwischen dem eingestellten Solllenkwinkel (θt) und einem Lenkwinkel (θ); und eine Lenkreibdrehmomentsteuerungsvorrichtung zum Steuern eines Reibdrehmoments, das auf die Lenkung durch einen Aktuator aufgebracht wird, auf der Grundlage des eingestellten Zusatzreibdrehmoments (Tc).

EINZELRADAUFHÄNGUNG DER VORDERRÄDER

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 ...

Aktuator für Lenkgetriebe

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.

MOTORGETRIEBENE VORDER- UND HINTERRADLENKVORRICHTUNG.

Elektrische Antriebsvorrichtung und elektrische Servolenkvorrichtung

Die vorliegende Erfindung ist so konfiguriert, dass eine elektronische Steueranordnung in eine auf einem Metallsubstrat montierte Stromversorgungsschaltungseinheit, eine auf einem Metallsubstrat montierte Stromumwandlungsschaltungseinheit und eine auf einem Harzsubstrat montierte Steuerschaltungseinheit unterteilt ist; ein Stromversorgungsverbinder-Verdrahtungselement, das elektrischen Strom von der Stromversorgungsschaltungseinheit der Stromumwandlungsschaltungseinheit und der Steuerschaltungseinheit zuführt, und ein Signalübertragungsverbinder-Verdrahtungselement, das Signale, die in die Steuerschaltungseinheit eingegeben oder aus dieser ausgegeben werden sollen, in einer Verbinderanschlussanordnung eingebettet sind; und Verbinderanschlüsse des Stromversorgungsverbinder-Verdrahtungselements und des Signalübertragungsverbinder-Verdrahtungselements, die aus der Verbinderanschlussanordnung freiliegen, direkt mit den entsprechenden Schaltungseinheiten verbunden sind.

Zahnriemenrad einer elektromechanischen Lenkung mit Kugelgewindemutter

Zahnriemenrad (1) einer elektro-mechanischen Lenkung mit Kugelgewindemutter (2), wobei zwischen einem Außenumfang (7) der Kugelgewindemutter (2) und dem Zahnriemenrad (1) mindestens eine in Umfangsrichtung wirkende formschlüssige Mitnahmeeinrichtung (10) vorgesehen ist, das Zahnriemenrad (1) Innenwandabschnitte (6) zur radialen Anlage gegen Außenumfangsabschnitte (9) der Kugelgewindemutter (2) aufweist, das Zahnriemenrad (1) innenseitig mindestens eine Ausnehmung (14) zur Aufnahme eines oder mehrerer vorspringender Kugelumlenkungsgehäuse (15) an der Kugelgewindemutter (2) aufweist und die Innenwandabschnitte (6) zur radialen Anlage gegen Außenumfangsabschnitte (9) der Kugelgewindemutter (2) neben der bzw. den Ausnehmungen (14) angeordnet sind, dadurch gekennzeichnet, dass das jeweilige Kugelumlenkungsgehäuse (15) an der Kugelgewindemutter (2) in Radialrichtung durch das Zahnriemenrad (1) gehalten ist.

Verfahren zum Betrieb eines Lenksystems in einem Fahrzeug

Verfahren zum Betrieb eines Lenksystems in einem Fahrzeug, wobei das Lenksystem (1) eine Lenkhandhabe (2), eine Lenksäule (3), ein Lenkgetriebe (6) und ein Lenkgestänge (7) zur Übertragung eines vom Fahrer vorgegebenen Lenkradwinkels (δL) in einen Radlenkwinkel (δRL) an den lenkbaren Rädern (8) des Fahrzeugs aufweist, mit einer Lenkkraftunterstützungseinrichtung (9) zur Erzeugung eines lenkunterstützenden Moments und mit einem Überlagerungslenkgetriebe (4) zur Erzeugung eines Überlagerungslenkwinkels (δM), der dem Lenkradwinkel (δL) überlagerbar ist, wobei eine Sollgierrate (ψ. soll) und eine Istgierrate (ψ. ist) ermittelt werden und für den Fall, dass die Differenz von Istgierrate (ψ. ist) und Sollgierrate (ψ. soll) einen vorgegebenen Aktivierungsschwellenwert (Δψ. akt) überschreitet und das Fahrzeug untersteuert, der Überlagerungslenkwinkel (δM) einer Zunahme des vom Fahrer vorgegebenen Lenkradwinkels (δL) entgegen gerichtet ist und diese zumindest teilweise kompensiert, dadurch gekennzeichnet ...

Steering column position sensor has detector of magnetic field change when transducer wheels move relative to each other producing signal representing relative wheel orientation

Transducer wheels (110,112) are coupled to first and second steering column segments (126, 132) respectively. Ferromagnetic teeth (116, 120) extend radially out from the wheels and at least one winding (104) enclosing the wheels is stimulated to set up a magnetic field about the wheels. A detector monitors a change in the magnetic field when the wheels move relative to each other and outputs a signal representing the relative orientation of the transducer wheels. Independent claims are also included for the following: (1) Power steering system; (2) A method of controlling a power steering system.

Schaltungsanordnung zum Ansteuern eines Sensors

Es wird eine Schaltungsanordnung (10) zum Ansteuern eines Sensors (12) zur Erfassung eines Lenkwinkels vorgestellt. Bei dieser Schaltungsanordnung (10) ist zusätzlich eine elektrische Spannungsversorgung vorgesehen, die bei Ausfall des Bordnetzes einreitstellt.

SCHRAUBRADGETRIEBE FÜR ZAHNSTANGENLENKUNG

Sensorsystem

Bei Lenkunterstützungssystemen ist ein Lenkwinkelerfassungssystem mit hoher Auflösung erforderlich. Mechanische Vorrichtungen zum Erfassen der absoluten Drehwinkelstellung können dieser Aufgabe nicht immer gerecht werden. Das Sensorsystem der Erfindung weist ein erstes Sensorelement und ein zweites Sensorelement auf, wobei das erste Sensorelement unabhängig von einer Bordnetzspannung Impulse bei einer Drehbewegung erzeugt. Die daraus erhaltenen Informationen ermöglichen die Errechnung einer absoluten Drehwinkelstellung auch über mehrere Umdrehungen, wobei allerdings nur eine relativ grobe Genauigkeit erreicht wird. Mit einem zweiten Sensorelement, das von einer Bordnetzspannung abhängig ist, kann im gewöhnlichen Betrieb die Auflösung verfeinert werden.

Fahrzeuglenkungssteuerungsgerät und zugehöriges Steuerungsverfahren

Fahrzeuglenkungssteuerungsgerät mit: einer Steuerungseinrichtung (4) mit variablem Lenkungsverhältnis zur Steuerung eines Lenkwinkels von gelenkten Rädern (FL, FR) durch Anlegen einer Ansteuerungskraft an eine Lenkungseingabe, und einer Betriebsdrehmomentberechnungseinrichtung (42) zur Berechnung eines Betriebsdrehmoments, das ein Fahrer an eine Lenkung (10) anlegt, gekennzeichnet durch eine Eingabedrehmomenterhalteeinrichtung zum Erhalten eines Eingabedrehmoments, das an einen Lenkungsstrang (11) eines Lenkungssystems durch externe Kräfte angelegt wird, eine Solllenkwinkeleinstelleinrichtung (41, 45, 46), um einen Solllenkwinkel der Steuerungseinrichtung mit variablem Lenkungsverhältnis kleiner einzustellen, wenn sowohl eine erste Bedingung, die erfüllt ist, wenn das Betriebsdrehmoment kleiner ist als ein erster vorbestimmter Wert, als auch eine zweite Bedingung, die erfüllt ist, wenn das Eingabedrehmoment kleiner ist als ein zweiter vorbestimmter Wert, erfüllt sind, als wenn zumindest ...

Operating method for electronic power-assisted steering system of vehicle, involves overlapping additional angle, which is disabled after re-start of utility function

The method involves overlapping an additional angle (delta-M), which is disabled after a re-start of the utility function, with available difference between a desired additional reference partial angle (delta-MdVL) of the utility function and an instantaneous actual value. The effective difference between the additional reference partial angle of the utility function and the instantaneous actual value is determined as synchronizing input (D-Sync) from a specified operating interval of a synchronizing function, where the overlapping of the additional reference partial angle is released. Independent claims are also included for the following: (1) a computer program with a program code medium (2) a computer program product with a program code medium.

Detektion einer Fahrerintervention während einer Drehmomentüberlagerungsoperation bei einem elektrischen Servolenkungssystem

Verfahren zum Steuern eines Lenkmanövers eines Fahrzeugs (10), das ein elektrisches Servolenkungssystem (EPS-System) (16), welches einen Lenkmotor (26) mit einem tatsächlichen Motordrehmomentwert (TM,ACTUAL) umfasst, und ein Lenkrad (12) aufweist, wobei das Verfahren umfasst, dass: ein Satz von Lenkungsdynamiken während eines vorbestimmten EPS-Status mit einer aktiven Drehmomentüberlagerungsoperation modelliert wird (102), um dadurch ein dynamisches Lenkungsmodell (DSM) zu erzeugen; ein Satz von Fahrzeugbetriebswerten (S, TS, TM,ACTUAL) gemessen wird (106, 116, 120); der Satz von Fahrzeugbetriebswerten (S, TS, TM,ACTUAL) verarbeitet wird, um dadurch eine Fahrerintervention zu detektieren, wobei die Fahrerintervention einer Fahrerabsicht zum Aufheben der Drehmomentüberlagerungsoperation entspricht; und die Drehmomentüberlagerungsoperation automatisch aufgehoben wird (128), wenn die Fahrerintervention detektiert wird, dadurch gekennzeichnet, dass das Verarbeiten des Satzes von Fahrzeugbetriebswerten ...

Stromversorgungssystem für ein Fahrzeug

Stromversorgungssystem für ein Fahrzeug mit einer Haupt- und einer Hilfsbatterie (20, 21), um eine elektrische Bremsvorrichtung (100) über mindestens zwei unabhängige Stromversorgungsleitungen (40, 41) mit elektrischem Strom zu versorgen, dadurch gekennzeichnet, dass - die elektrische Bremsvorrichtung (100) in mindestens zwei Bremssysteme (130, 131) unterteilbar ist, - die Hauptbatterie mindestens mit einem ersten Bremssystem (130) und einem zweiten Bremssystem (131) der mindestens zwei Bremssysteme verbunden ist und - die Hilfsbatterie (21) in Reaktion auf einen detektierten Fehlerzustand irgendeines Leiters aus der Gruppe von Leitern, die mit der Hauptbatterie (20), der Hilfsbatterie (21) oder der Bremsvorrichtung (100) verbunden sind, durch eine Schalteinrichtung (11, 13, 14) mit dem ersten Bremssystem (130) oder dem zweiten Bremssystem (131) verbunden wird.

Drehwinkeldetektoreinrichtung, Drehmomentdetektoreinrichtung, und Verfahren zu deren Herstellung

Eine Drehwinkeldetektoreinrichtung und eine Drehmomentdetektoreinrichtung können verhindern, dass von mehreren Halbleiter-MR-Elementen auszugebende Signale voneinander infolge von Materialunterschieden eines Halbleiterwafers verschieden sind. Mehrere Halbleiter-MR-Elemente sind über einer gemeinsamen Zelle eines Halbleiterwafers vorgesehen und sind so angeordnet, dass sie an voneinander verschiedenen Positionen in einer Zielumfangsrichtung in Bezug auf zugehörige Eingangs- und Ausgangswellen gegenüberliegen, so dass Signale, die entsprechend der Drehung der Eingangswelle und der Ausgangswelle ausgegeben werden, die festgestellt werden soll, eine vorbestimmte Phasendifferenz in Bezug auf den elektrischen Winkel aufweisen.

Fahrzeuglenkungssystem

Ein Fahrzeuglenkungssystem mit einem Lenkungsmechanismus (3), der ein Lenkrad (1), das in einem Fahrzeug installiert ist, und einen elektrisch gesteuerten Hilfslenkungswinkel-Überlagerungsmechanismus (2) zum Lenken von lenkbaren Straßenrädern (5a, 5b) des Fahrzeugs enthält, das System umfassend: eine Lenkradwinkel-Erfassungssektion (6, 6A), die einen Lenkungswinkel des Lenkrades (1) als einen Lenkradwinkel (H) unter Verwendung eines Lenkradwinkel-Korrekturbetrags (H) erhält; eine Hilfslenkungswinkel-Erfassungssektion (10, 10A), die einen Hilfslenkungswinkel (S) erfasst, der durch den Hilfslenkungswinkel-Überlagerungsmechanismus (2) zu überlagern ist; eine Lenkungswinkel-Erfassungssektion (12), die einen gelenkten Winkel (P) der lenkbaren Straßenräder (5a, 5b) als einen absoluten Winkel erfasst; eine Fahrzustandserfassungssektion (7), die den Fahrzustand des Fahrzeugs erfasst; eine Übertragungscharakteristik-Einstellungssektion (8), die eine Übertragungscharakteristik (f(H)) zwischen dem ...

Vehicle steering device, has angle detection device for detecting relative rotation angle between steering shaft and rotation member, and electric power steering system supporting steering of steered wheel by output power of electric motor

The device (1) has a variable gear ratio system (4) varying a control angle ratio, and a rotation angle detection device for detecting a relative rotation angle between a steering shaft (12) and a rotation member (13). Rotation member sided magnetic field detection devices are provided for detecting a variation of magnetic flow density of a magnetic field. An electric power steering system (6) has an electric motor (5), and supports steering of a steered wheel by output power of the motor, where the motor and an electric motor (3) of the ratio system are enfolded in a module. An independent claim is also included for a method for controlling steering of a vehicle.

Elektrische Servolenkungsvorrichtung

Elektrische Servolenkungsvorrichtung, umfassend: einen Mehrphasenmotor (2), welcher die Lenkarbeit eines Fahrers unterstützt; ein Treibermittel (56, 57), welches mit einem oberen Schaltelement ausgestattet ist, welches die Wicklung jeder Phase des Mehrphasenmotors (2) und eine Energieversorgung (4) verbindet oder trennt, und ein unteres Schaltelement, welches die Wicklung jeder Phase des Mehrphasenmotors (2) und eine Erdung verbindet oder trennt; und eine Logikschaltung (55), welche das AN/AUS des oberen Schaltelements und des unteren Schaltelements bestimmt; ein erstes und zweites Steuerungsmittel (53, 54) zur Steuerung des Treibermittels (56, 57) über die Logikschaltung (55), wobei die Logikschaltung (55) das AN/AUS des oberen Schaltelements und des unteren Schaltelements so bestimmt, dass die Energie zur Wicklung jeder Phase entsprechend der Anweisung entweder des ersten Steuermittels (53) oder des zweiten Steuermittels (54) unterbrochen wird, und die Logikschaltung (55) eingerichtet ...

Steerable vehicle axle for commercial vehicle, has axle bridge, at whose ends steerable axle head is supported over tie rod, where tie rod is moved by drive

The steerable vehicle axle has an axle bridge (1), at whose ends a steerable axle head (5,6) is supported over a tie rod (9), where the tie rod is moved by a drive. An electric direct drive formed as a linear motor (13) is provided as the drive. The linear motor is arranged coaxial to the tie rod and is in direct electromagnetic active connection with the tie rod. A stator (14) of the linear motor is partially formed by the axle bridge.

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.

Steering control apparatus for vehicle and steering control method

A method for controlling a steering device with steering power support means for a motor vehicle with at least one steerable road wheel, where the steering device may include a steering shaft with a first end to adopt a steering wheel, a control device controlling said power support means, sensing means detecting steering shaft torque introduced in said steering shaft, and means to determine a hands-off situation in which the driver does not introduce a torque into said steering shaft, wherein the steering power support means support the driver on the basis of a driver demand introduced into the steering shaft, may comprise determining a steering wheel torque on basis of the steering shaft torque; determining a time derivative of the detected steering wheel torque; if the absolute value of the steering wheel torque is lower than a threshold torque limit and if the absolute value of the derivative of steering wheel torque is lower than a threshold derivative torque limit, a counter is increased by one count; if the absolute value of the steering wheel torque is higher or equal than a threshold torque limit, or/and if the absolute value of the derivative of steering wheel torque is higher or equal than a threshold derivative torque limit-, said counter is decreased by one count; and if said counter has a value equal to or higher than a threshold count limit the hands-off state is determined.

Motor-driven steering assist apparatus

In a motor-driven steering assist apparatus, a gear train transmitting a rotation of an electric motor to an output shaft comprises a single unit body surrounded by housings, and an attaching boss to a vehicle body side bracket is provided in a lower surface of the housing as seen from an axial direction of the output shaft.

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.

Bearing system for a worm in a steering gear

Disclosed is a bearing system for a worm engaging with a worm wheel as part of a steering gear, wherein the bearing system comprises at least one bearing with an outer ring, an inner ring, and rolling bodies that are movably accommodated between the outer an inner rings, the bearing being pivotally arranged in a bearing seat for accommodating the outer ring of the bearing, and wherein the inner ring accommodates one of the two shaft ends of the worm in order to seat said shaft end of the worm radially in the housing of the steering gear. For an improved dampening of the worm at least one spring element, which exerts a spring force on a region of the outer ring of the bearing, is provided at the bearing, said spring force supporting a pivotal motion of the worm toward the worm wheel.

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 apparatus

An object of the present invention is to provide an electric power steering apparatus that realizes weight saving and downsizing of component parts by counting and controlling the number of times of end hitting and simultaneously calculating a current limit value depending on the number of times of end hitting to limit assist . [Means for solving the problem] The present invention is an electric power steering apparatus that comprises an end hitting detection means that detects end hitting based on the steering torque and a differential steering torque obtained by differentiating the steering torque and outputs an end hitting detection signal, a counting means that counts a number 1 of times of end hitting detected by the end hitting detection means, a storage means that stores and keeps a total number of times of end hitting, and a current limit value calculating means that calculates a current limit value depending on a number 2 of times of end hitting obtained by adding the number 1 of times of end hitting from the counting means and the total number of times of end hitting from the storage means, wherein the current command value is limited based on the current limit value calculated by the current limit value calculating means.

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.

Steering control system

In a steering control system, an ECU calculates a basic assist torque in accordance with a steering torque detected by a torque sensor, and a corrected assist torque by correcting the calculated basic assist torque in accordance with the position of a rack by making corrections so that the basic assist torque decreases when the rack moves from a predetermined first position, which is close to a first end of a movable range, to the first end or from a predetermined second position, which is close to a second end of the movable range, to the second end. The ECU determines either the basic assist torque or the corrected assist torque as the assist torque in accordance with the position of the rack. The ECU controls the drive of an actuator in accordance with the determined assist torque.

Analog/digital conversion circuit, semiconductor device, and electric power steering controlling unit

The present invention provides a method in which a counting source is provided in data after analog/digital conversion to lessen a load placed when new and old data after the conversion are compared to each other. A log function is prepared in an A/D conversion controlling circuit. The log function latches the output of a counter in a 12-bit digital/analog converter at the timing of outputting a pulse from a comparator to determine data written into a data register group. In the case where a setting item related to log output in an ADCR is set at 1, not only the output of the 12-bit digital/analog converter, but also the output of a timer counter of an MTU is latched as a log.

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 ...

STEER-BY-WIRE STEERING DEVICE

A steer-by-wire steering device includes a steering wheel connected with a steering shaft, a steering angle sensor, a steering reactive force motor, and a steering control unit for controlling a steering shaft drive motor and the steering reactive force motor. Provided is a power transmitting mechanism for transmitting the power from the steering shaft drive motor to the steering shaft. A changeover unit for selectively connecting and disconnecting the power is disposed on the way thereof. The changeover unit includes a clutch mechanism comprised of an input member and an output member juxtaposed in an axial direction for movement in the axial direction and, also, rotatable relative to each other, a clutch groove provided in one of those members, and a clutch rolling element provided in the other of those members and biased in a radial direction by the clutch groove so that it can be selectively engaged and disengaged. 1. A steer-by-wire steering device comprising:a steering wheel not mechanically connected with a steering shaft for turning;a steering angle sensor for detecting a steering angle of the steering wheel;a steering reactive force motor for applying a reactive force torque to the steering wheel;a steering shaft drive motor for driving the steering shaft;a steering control unit for controlling the steering reactive force motor and the steering shaft drive motor, the steering control unit controlling the steering shaft drive motor on the basis of a driving condition detection signal including a signal indicative of the steering angle detected by the steering angle sensor;a power transmitting mechanism for transmitting a power from the steering shaft drive motor to the steering shaft; anda changeover unit disposed at a location generally intermediate of the power transmitting mechanism for switching between a condition for transmitting the power and a condition for interrupting the power;wherein the changeover unit includes;a clutch mechanism comprising an ...

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes elastic members arranged at respective axial ends of a first bearing by which a motor shaft that serves as a hollow shaft is rotatably supported and which elastically support the first bearing relative to a rack housing in the axial direction; and a support member disposed on the outer periphery of the first bearing to support the first bearing with displacement of the first bearing in the radial direction restricted. The motor shaft is disposed so as to move relative to the rack housing in the axial direction as the first bearing slides relative to the support member while elastically deforming the elastic members and a second bearing moves in the axial direction. 1. An electric power steering system including a rack shaft that is supported so as to be able to make a reciprocating motion in an axial direction of the rack shaft , a hollow shaft through which the rack shaft is passed and which is rotated by driving a motor , and a plurality of bearings by which the hollow shaft is supported so as to be rotatable relative to a rack housing that accommodates the rack shaft , the electric power steering system supplying a steering system with an assist force for assisting a steering operation by converting rotation of the hollow shaft into a reciprocating motion of the rack shaft ,the electric power steering system, comprising:elastic members that are arranged at respective axial ends of at least one of the bearings, and that elastically support the bearing relative to the rack housing in the axial direction; anda support member that is disposed on an outer periphery of the elastically supported bearing, and that supports the bearing with displacement of the bearing in a radial direction restricted,wherein the hollow shaft is disposed so as to move relative to the rack housing in the axial direction as the support member and at least one of the rack housing and the elastically supported bearing slide relative to each other.2. ...

ELECTRIC POWER STEERING SYSTEM

An electric power steering system includes steering a torque detector that detects steering torque, and a motor that provides assist torque based on the detected steering torque, wherein for the purpose of estimating, without detecting motor rotation angular information and rotation angular velocity information, the road reaction torque in which the influence of the motor inertia torque is eliminated, a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft. 16-. (canceled)7. An electric power steering system comprising:a steering torque detector that detects steering torque; anda motor that provides assist torque based on the detected steering torque;wherein a value corresponding to rotation velocity of a steering shaft is calculated based on the steering torque and the assist torque, to calculate road reaction torque based on the value corresponding to the rotation velocity of the steering shaft.8. The electric power steering system of claim 7 , wherein a rotation angle of the steering shaft is calculated based on the value corresponding to the rotation velocity of the steering shaft claim 7 , to calculate the road reaction torque based on the rotation angle.9. The electric power steering system of claim 7 , further comprising a vehicle speed detector that detects vehicle travel speed claim 7 , wherein the value corresponding to the rotation velocity of the steering shaft is calculated based on the steering torque claim 7 , the assist torque claim 7 , and vehicle speed detected by the vehicle speed detector claim 7 , to calculate the road reaction torque based on the value corresponding thereto.10. The electric power steering system of claim 7 , wherein friction of the steering shaft is calculated based on the value corresponding to the rotation velocity of the steering shaft claim ...

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- ...

MOTOR CONTROL APPARATUS AND ELECTRIC POWER STEERING APPARATUS

A motor control apparatus that drive-controls a motor by an inverter based on each-phase duty command values of PWM and detects each-phase motor currents of the motor by a one-shunt type current detector. The apparatus includes a current detection correcting section that calculates a current detection correction value based on a power-supply voltage of the motor, each-phase duty command values, a back-EMF information of the motor, each-phase motor currents detected by the current detector, arrangement information of the PWM, and electric characteristic formula of the motor, thereby to correct the each-phase motor currents detected by the current detector to a motor average current by the current detection correction value and drive-controls the motor. 1. A motor control apparatus that drive-controls a motor by an inverter based on each-phase duty command values of PWM and detects each-phase motor currents of said motor by a one-shunt type current detector , comprising:a current detection correcting section that calculates a current detection correction value based on a power-supply voltage of said motor, said each-phase duty command values, a back-EMF of said motor, said each-phase motor currents detected by said current detector, an arrangement information of said PWM, and an electric characteristic formula of said motor,thereby to correct said each-phase motor currents detected by said current detector to a motor average current by using said current detection correction value and to drive-control said motor.2. A motor control apparatus according to claim 1 , wherein said correction is performed by adding said current detection correction value to said each-phase motor currents detected by said current detector.3. A motor control apparatus according to claim 1 , wherein said current detection correcting section obtains said current detection correction value by calculating each-phase PWM-ON/OFF patterns between current detection timings and given timings within ...

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 ...

MOTOR DRIVE APPARATUS

A power transducer failure detection device detects a failure on a power transducer, making a power transducer control device stop driving the power transducer. A first switching control device turns off a first power supply relay of a power supply source switching device and turns on a second power supply relay of the power supply source switching device. While the power transducer stops driving, a motor may rotate due to an external force to generate a regenerative voltage. The regenerative voltage is then regenerated in a battery through a route from the power transducer via the second power supply relay being turned on and a parasitic diode of the first power supply relay. This can protect elements such as switching elements and a smoothing capacitor of the power transducer against a regenerative voltage and prevent the elements from being destroyed or reducing the useful life due to overvoltage. 1. A motor drive apparatus comprising:a current instruction device that issues a current instruction value to drive a motor having a plurality of phases;a power transducer that includes a plurality of semiconductor switching elements, the power transducer converting power supplied from a power supply source and outputting the power to the motor;a power supply source switching device that is provided between the power supply source and the power transducer and performs one of electrical connection and disconnection between the power supply source and the power transducer;a power transducer failure detection device that detects a failure on the power transducer;a power transducer control device that controls driving of the power transducer according to the current instruction value and stops driving the power transducer when the power transducer failure detection device detects a failure on the power transducer; anda first switching control device that controls the power supply source switching device to make the power supply source switching device enter a regenerative ...

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 ...

Vehicle steering control system

The absolute value of a steering torque detected by a steering torque sensor is compared with a predetermined threshold. When the absolute value of the detected steering torque is smaller than the threshold, a steering reaction force is controlled on the basis of the steering torque; whereas, when the absolute value of the detected steering torque is larger than or equal to the threshold, the steering reaction force is controlled using a detected reaction motor current value as a reference value.

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 ...

ELECTRIC POWER STEERING APPARATUS

An electric power steering apparatus is provided which can obtain steering auxiliary power when a steering auxiliary power starting condition is not satisfied and there exists no abnormality in a power source and the like. The electric power steering apparatus controls output of a motor in such a way that through operation of a driver, limited steering auxiliary power that is limited to be smaller than normal steering auxiliary power is exerted on a steering system, and exerts limited steering auxiliary power on the steering system when the vehicle is to be saved, even when due to a vehicle failure or a fuel shortage, the engine stops, so that the load on a driver, which is imposed when the vehicle is moved to a safe place, can be reduced. 1. An electric power steering apparatus comprising:a motor that generates output for exerting steering auxiliary power on a steering system;a power source that supplies electric power to the motor; anda control apparatus that controls output of the motor, wherein the control apparatus controls output of the motor in such a way that through operation of a driver, limited steering auxiliary power that is limited to be smaller than normal steering auxiliary power is exerted on the steering system.2. The electric power steering apparatus according to claim 1 , wherein the control apparatus limits a current supplied from the power source to the motor in comparison with a normal current so that the limited steering auxiliary power is exerted.3. The electric power steering apparatus according to claim 2 , wherein the control apparatus limits the current claim 2 , based on a method of multiplying a normal motor current by a coefficient corresponding to the voltage of the power source.4. The electric power steering apparatus according to claim 1 , wherein the limited steering auxiliary power is exerted within a predetermined time.5. The electric power steering apparatus according to claim 1 , wherein the limited steering auxiliary power is ...

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 ...

Electric power steering device

An electric power steering device includes: a worm shaft including a first end portion and a second end portion; a worm wheel; a joint; and an urging member. The first end portion includes: a first tubular portion; a diameter enlargement permission portion to allow enlargement of a diameter of the first tubular portion; and an external teeth portion. The joint includes: a second tubular portion; and an internal teeth portion capable of engaging the external teeth portion. The electric power steering device further includes a diameter enlargement member which is arranged in the first tubular portion and which enlarges a part of the first tubular portion in an axial direction thereof to press the internal teeth portion toward the external teeth portion.

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 ...

Electric Power Steering Apparatus

Connection terminals are provided for electrically connecting sensor terminals and through holes provided on a control substrate, and a control unit is provided with a frame of synthetic resin for holding the control substrate. The frame of synthetic resin is provided with: a connection terminal holding portion for holding one ends of the connection terminals connected to the through holes partially insert-molded and the other ends protruding outwardly from the frame of synthetic resin; and guide openings for guiding and making the sensor terminals insert therethrough so that the sensor terminals protruding from the outer circumference of the reduction gearbox extend to the position where the sensor terminals are connectable with the other ends of the connection terminals. 1. An electric power steering apparatus comprising:a steering shaft through which a steering torque is transmitted;an electric motor for transmitting a steering assist force to the steering shaft via a reduction mechanism in a reduction gearbox;a control unit including a control substrate on which a control circuit for drive-controlling the electric motor is mounted;a plurality of sensor terminals connected to a torque sensor included in the reduction gearbox and protruding from an outer circumference of the reduction gearbox;a plurality of through holes arranged at the control substrate; anda plurality of connection terminals electrically connecting the plurality of sensor terminals and the plurality of through holes, respectively,wherein the control unit includes a frame of synthetic resin for holding the control substrate,wherein the frame of synthetic resin partially insert-molds the plurality of connection terminals with one ends of the plurality of connection terminals connected to the plurality of through holes, and the other ends of the plurality of connection terminals protruding at the outside of the frame of synthetic resin, wherein the frame of synthetic resin includes a sensor ...

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 ...

VEHICLE STEERING CONTROL APPARATUS

A vehicle steering control apparatus in a vehicle, which is provided with: a tire steer angle varying apparatus which is configured to change a tire steer angle independently of steering wheel operation; and a tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, is provided with: a learning device which is configured to learn a steering wheel angle neutral point; an abnormality determining device which is configured to determine whether or not the tire steer angle equivalent value detecting device is in an abnormal state; a disregarding device which is configured to disregard the learned steering wheel angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; a controlling device which is configured to control the tire steer angle varying apparatus such that the tire steer angle is returned to a tire steer angle neutral point if it is determined that the tire steer angle equivalent value detecting device is in the abnormal state; and an initializing device which is configured to initialize the tire steer angle equivalent value detecting device after the tire steer angle is returned to the tire steer angle neutral point, wherein the leaning device restarts the learning of the steering wheel angle after the tire steer angle equivalent value detecting device is initialized. 1. A vehicle steering control apparatus in a vehicle ,the vehicle comprising:a tire steer angle varying apparatus which is configured to change a tire steer angle of steered wheels including at least one of front wheels and rear wheels, independently of steering wheel operation; anda tire steer angle equivalent value detecting device which is configured to detect a tire steer angle equivalent value corresponding to the tire steer angle, the tire steer angle equivalent value providing an operational criterion for the tire steer ...

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 ...

MOTOR VEHICLE AND STEER CONTROL METHOD FOR STEERABLE WHEEL

A vehicle suspension apparatus is constructed to improve stability and controllability. Suspension apparatus includes; a tire wheel to be equipped with a tire; a wheel hub mechanism to support the tire wheel; a first link member connecting the wheel hub mechanism and a vehicle body on a lower side of an axle in an vehicle up and down direction; a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view; and a steering rack moving in a vehicle widthwise direction and steering the wheel hub mechanism. 145-. (canceled)46. A motor vehicle comprising:a steer control apparatus to steer a steerable wheel by actuating an actuator in accordance with a steering condition of a steering wheel; anda suspension apparatus to support the steerable wheel to a vehicle body;wherein the suspension apparatus comprises:a wheel hub mechanism to support a tire wheel to be provided with a tire;a first link member connecting the wheel hub mechanism and the vehicle body on a lower side of an axle in a vehicle up and down direction; and 'wherein a kingpin axis passing through an upper pivot point of the suspension apparatus and a lower pivot point located at an intersection point of the first link member and the second link member is set to pass through a tire ground contact surface at a neutral position of the steering wheel; and', 'a second link member connecting the wheel hub mechanism and the vehicle body on the lower side of the axle in the vehicle up and down direction and intersecting the first link member in a vehicle top view;'}wherein the steer control apparatus is configured to steer the steerable wheel by producing a restoring force for self-aligning in the steerable wheel by actuating the actuator and thereby to secure a straightness of the vehicle.47. The motor vehicle as recited in claim 46 , wherein the steer control apparatus ...

HYBRID MOTOR DRIVEN POWER STEERING SYSTEM FOR COMMERCIAL VEHICLE AND METHOD OF IMPROVING PERFORMANCE AND FUEL EFFICIENCY THROUGH CONTROL THEREOF

A hybrid motor driven power steering system for a commercial vehicle may include a MDPS unit to generate motor output torque depending on driver steering torque, an EHPS unit to generate hydraulic output torque considering the motor output torque of the MDPS unit, a ball nut type gear box to generate output torque which operates a tie rod leading to left and right wheels after being input with the driver steering torque, the motor output torque, and the hydraulic output torque, and two torsion bars to block torque fluctuation rates at respective regions of a joint by detecting a road surface reaction force transferred to a steering column through the ball nut type gear box in at least two different positions. Accordingly, it may be possible to provide a steering capacity required in small-sized, medium-sized and full-sized commercial vehicles. 1. A hybrid motor driven power steering system for a commercial vehicle comprising:a Motor Driven Power Steering (MDPS) unit configured to generate motor output torque corresponding to a portion of detected driver torque, wherein the MDPS unit is mounted to a steering column connecting a steering wheel;an Electro-Hydraulic Power Steering (EHPS) unit configured to generate hydraulic output torque, to create, together with the motor output torque of the MDPS unit, an output required for steering the commercial vehicle;a ball nut type gear box configured to include a hydraulic cylinder having a large hydraulic area and a ball nut to generate real output torque of a piston using hydraulic pressure supplied from the EHPS unit;a link configured to be operated by the output torque generated at the ball nut type gear box to operate a tie rod connected to left and right wheels; andtwo torsion bars configured to be respectively installed in at least two different positions of the steering column to detect a road surface reaction force which is introduced to the ball nut type gear box and transferred to the steering wheel.2. The hybrid ...

VEHICLE, AND METHOD FOR STEERING CONTROL OF SAME

Maneuverability and stability of a suspension unit for a vehicle are improved. A vehicle includes: a steer-by-wire system detecting a displacement of a steering wheel and displacing a steering rack steering steerable wheels on a basis of a detection result of the displacement and a suspension unit suspending the steerable wheels, the suspension unit including: wheel hub mechanisms, each wheel hub mechanism supporting a tire wheel on which a tire is attached, and a plurality of link members supporting the wheel hub mechanisms on the vehicle body; and a kingpin axis passing through an upper pivot point of the link members and lower pivot point of the link members being set to pass through a road surface contact area of the tire at a neutral position of the steering wheel. 1. A vehicle comprising:a steering control apparatus that actuates an actuator in accordance with a steered state of a steering wheel to steer steerable wheels; anda suspension unit that supports the steerable wheels on a vehicle body,the suspension unit including: a wheel hub mechanism supporting a tire wheel on which a tire is attached; and a plurality of link members supporting the wheel hub mechanism on the vehicle body,a kingpin axis passing through an upper pivot point of the link members and a lower pivot point of the link members being set to be passed within a contact area of the tire at a neutral position of the steering wheel, andthe steering control apparatus actuating the actuator to generate a restoring force for a self-aligning torque on the steerable wheels to steer the steerable wheels to secure a straightness of the vehicle.2. A vehicle comprising:a steering control apparatus constituted by a steer-by-wire system and that actuates an actuator in accordance with a steered state of a steering wheel to steer steerable wheels which are mechanically separated from the steering wheel; anda suspension unit including: a wheel hub mechanism supporting a tire wheel on which a corresponding ...

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 ...

Reducer of electric power steering apparatus

A reducer of an electric power steering apparatus is disclosed. It reduces rattle noise generated by a backlash due to friction and wear of a worm and a worm wheel or an impact transmitted from a road surface through a wheel and a steering shaft and enhances a steering feeling of a driver by improving the catching phenomenon and rotational resistance generated between a worm shaft and a worm shaft bearing.

Steering column assist system

A power-assisted steering system includes a control shaft arranged along a control shaft axis. An assist drive shaft defines a drive shaft axis and is arranged in a plane that is substantially transverse to the control shaft axis. The assist drive shaft is supported relative to the vehicle structure by a first bearing assembly and a second bearing assembly. A worm is disposed about the assist drive shaft. A worm gear is coupled to the control shaft, and the worm gear and control shaft are configured for rotation about the control shaft axis. The worm gear is configured for engaging the worm such that rotation of the worm and the assist drive shaft about the drive shaft axis causes rotation of the worm gear and the control shaft about the control shaft axis. The first bearing assembly is configured as an eccentric bearing assembly.

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.

ACTUATING DEVICE EMPLOYED IN STEERING SYSTEM FOR VEHICLE

An actuating device employed in a steering system comprises an input-side sun gear, which is provided on an input shaft of a steering shaft and is rotated integrally with the input shaft of the steering shaft, an output-side sun gear, which is provided on an output shaft of the steering shaft and is rotated integrally with the output shaft, an input-side planetary gear, which is engaged with the input-side sun gear, revolves around the input-side sun gear, and is provided on a planetary gear shaft, and an output-side planetary gear, which is engaged with the output-side sun gear, revolves around the output-side sun gear, and is provided on a planetary gear shaft, the output-side planetary gear being spaced apart from the input-side planetary gear. 1. An actuating device employed in a steering system for a vehicle , comprising;an input-side sun gear provided on an input shaft of a steering shaft and rotated integrally with the input shaft of the steering shaft;an output-side sun gear provided on an output shaft of the steering shaft and rotated integrally with the output shaft of the steering shaft;an input-side planetary gear, which is externally engaged with the input-side sun gear, revolves around the input-side sun gear, and is provided on a planetary gear shaft; andan output-side planetary gear, which is externally engaged with the output-side sun gear, revolves around the output-side sun gear, and is provided on a planetary gear shaft, the output-side planetary gear being spaced a certain distance apart from the input-side planetary gear;wherein the planetary gear shaft, on which the input-side planetary gear and the output-side planetary gear are provided, is supported by a bearing at only one point of a center portion thereof.2. The actuating device employed in a steering system for a vehicle of claim 1 ,wherein the input shaft of the steering shaft passes rotatably through a first plate section, a worm wheel, which is externally engaged with a worm shaft of ...

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 ...

OVER-CURRENT DAMAGE PREVENTION METHOD AND APPARATUS FOR SUBSIDIARY INVERTER OF ELECTRIC BUS

Disclosed herein is an over-current damage prevention method and apparatus for a subsidiary inverter of an electric bus, which may reduce surge current generated due to a substantially abrupt occurrence of a load when a clutch is connected thereon by reducing the speed of a power steering motor before the clutch is connected thereon. The method and apparatus include sensing, by a sensor, a pressure of an air tank and an on position of an air pressure; reducing, by an inverter, a speed of a power steering motor by controlling the voltage applied to the power steering motor when the pressure of the air tank is less than a setup value or when the air pressure switch is on; and in response to reducing the speed of the power steering motor, maintaining a clutch in an engaged position to transmit power from the power steering motor to an air compressor. 1. An over-current damage prevention method for a subsidiary inverter of an electric bus , comprising:sensing, by a sensor, a pressure of an air tank and an on position of an air pressure switch;reducing, by an inverter, a speed of a power steering motor by controlling the voltage applied to the power steering motor when the pressure of the air tank is less than a setup value or when the air pressure switch is on; andin response to reduce the speed of the power steering motor, maintaining, by the inverter, a clutch in an engaged position to transmit power for the power steering motor to an air compressor.2. An over-current damage prevention apparatus for a subsidiary inverter of an electric bus , comprising:a pressure sensor and an air pressure switch, both configured to detect a pressure in an air tank; andan inverter configured to receive a signal from the pressure sensor and the air pressure switch to control the speed of a power steering motor by controlling the voltage applied to the power steering motor when the pressure of the air tank is less than a setup value or the air pressure switch is on.3. A non-transitory ...

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 ...

POWER STEERING APPARATUS AND SPEED REDUCER FOR POWER STEERING

An apparatus for power steering of a vehicle, comprises: a worm gear arrangement including a worm shaft and a worm wheel engaged with the worm shaft; a bearing to support the worm shaft rotatably; a gear housing structure enclosing the worm gear arrangement, and defining a holder receiving portion; and a holder member arranged to hold the bearing, and fit movably radially in the holder receiving portion. A biasing mechanism urges the holder member or the bearing in a nearing direction toward the worm wheel. A buffer member is arranged to be compressed by the holder member when the holder member is moved in the nearing direction to buffer collision of the holder member in the holder receiving portion. The buffer member is set to have an elastic force smaller than the biasing elastic force of the biasing mechanism. 1. A power steering apparatus to be mounted in a vehicle , comprising:a steering mechanism which includes a steering shaft connected with a steering wheel and which is arranged to transmit a steering operation from the steering wheel to a steerable wheel of the vehicle;an electric motor to provide a steering force to the steering mechanism; anda speed reducer provided between the steering mechanism and the motor, the speed reducer comprising:a worm gear arrangement which includes a worm shaft extending from a first shaft end arranged to receive rotation from the electric motor, to a second shaft end, and a worm wheel provided on the steering shaft and engaged with the worm shaft;a gear housing including a wheel receiving portion receiving the worm wheel and a shaft receiving portion receiving the worm shaft;a holder receiving portion formed in the shaft receiving portion on a side near the second shaft end of the worm shaft;a bearing to support the second shaft end of the worm shaft rotatably;a holder member which includes a bearing receiving portion receiving the bearing and which is arranged to move, in the holder receiving portion together with the ...

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 ...

STEERING YOKE ASSEMBLY

A steering yolk bearing assembly includes a body. The body can include a first end having a flat surface and a second end opposite the first end. The second end can have a concave surface having a radius of curvature, R, a first lateral side and a second lateral side opposite the first lateral side. A first bearing pad can extend from the first lateral side of the concave surface and a second bearing pad can extend from the second lateral side of the concave surface opposite the first bearing pad. Each bearing pad can include a shaft contact surface having a radius of curvature, R, and R≧2×R. 1. A steering yolk bearing assembly , comprising:a body, comprising:a first end having a flat surface;{'sub': 'CS', 'a second end opposite the first end, the second end having a concave surface having a radius of curvature, R, a first lateral side and a second lateral side opposite the first lateral side;'}a first bearing pad extending from the first lateral side of the concave surface; and{'sub': SCS', 'SCS', 'CS, 'a second bearing pad extending from the second lateral side of the concave surface opposite the first bearing pad, wherein each bearing pad includes a shaft contact surface having a radius of curvature, R, and R≧2×R.'}23.-. (canceled)4. The assembly according to claim 1 , wherein each bearing pad is affixed to the concave surface of the body.5. The assembly according to claim 4 , wherein each bearing pad comprises a body contact surface opposite the shaft contact surface and the body contact surface is curved to match the curvature of the concave surface of the body.6. A steering yolk bearing assembly claim 4 , comprising:a body, comprising:a first end having a flat surface;a second end opposite the first end, the second end having a concave surface having a first lateral side and a second lateral side opposite the first lateral side;a first bearing pad having an interlocking arrangement with the body in the first lateral side of the concave surface; anda second ...

POWER STEERING SYSTEM WITH END STOP FOR BLOCKING NUT INTEGRATED TO THE REDUCER CASING

A power steering system for a motor vehicle, including: a steering module including a steering casing inside which a steering rack is slidably mounted; and an assist module including a reducer casing fastened on a dome of the steering casing and inside which a gear reducer is mounted, including a worm screw driven by an assist motor and which meshes on a worm wheel linked in rotation to an output shaft with a pinion engaged with the steering rack and rotatably mounted in a rolling bearing carried by a bearing on the reducer casing, and a blocking nut is screwed inside the bearing in abutment against the rolling bearing, this nut being disposed facing an inner face of the dome from which at least one end stop protrudes opposite to the nut at a distance (DJ) allowing the nut to stop in the case of loosening. 1. A power steering system for a motor vehicle , comprising:a steering module comprising a steering casing inside which a steering rack is slidably mounted, having two ends provided to be coupled to respective steering tie rods, in which the steering casing has an open dome enabling an access to the steering rack; andan assist module comprising a reducer casing fastened on the open dome of the steering casing and inside which a gear reducer is mounted, comprising a worm screw driven by an assist motor and which meshes on a worm wheel linked in rotation to an output shaft provided with a pinion engaged with the steering rack, said output shaft being rotatably mounted inside the reducer casing and the steering casing by means of at least one first rolling bearing carried by a first bearing provided on the reducer casing between the worm wheel and the pinion, and a blocking nut is screwed inside the first bearing in abutment against the first rolling bearing, said blocking nut being disposed facing an inner face of the open dome of the steering casing;said power steering system being characterized in that the reducer casing has at least one end stop protruding from ...

STEERING SYSTEM AND VEHICLE EQUIPPED WITH SAME

The steering system includes: a first steering device to-steer left and right wheels in a mechanically associated manner by changing an angle of left and right chassis frame components; and a second steering device to drive a supplementary turning actuator to change angles of the wheels relative to the chassis frame components. The second steering device includes a supplementary turning control section to perform a control to cause turning by a steering angle that is a difference between a steering angle determined by a numerical model of vehicle motion on the basis of the steering command angle and the vehicle velocity and an actual steering angle. 1. A steering system comprising:a first steering device configured to change an angle of left and right chassis frame components of a suspension device to which left and right wheels that serve as front wheels of a vehicle are mounted so as to steer the left and right wheels that serve as the front wheels of the vehicle in accordance with a steering command angle given by rotation of a steering wheel or an electrical signal, the left and right wheels being mechanically associated with each other;a second steering device configured to drive a supplementary turning actuator provided to each of the left and right wheels to change angles of the wheels relative to the chassis frame components and thereby individually turn the left and right wheels; anda vehicle information detection section configured to detect vehicle information including a vehicle velocity of the vehicle and the steering command angle, wherein{'sub': '2', 'the second steering device includes a supplementary turning control section configured to control the supplementary turning actuator so as to perform turning by a steering angle δfor auxiliary turning that is a difference between a steering angle of the front wheels, determined by a numerical model of vehicle motion on the basis of the information on the steering command angle and the vehicle velocity, ...

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 ...

Vehicle

Disclosed is a vehicle including a steering wheel arranged offset toward one side in a vehicle body right/left direction, and an electric power steering unit. The electric power steering unit includes a link mechanism operably connected to the steering wheel and extending from a right/left center side of the steering wheel toward a vehicle body right/left center side to be operably connected to a wheel side, an assist device for the link mechanism, a control lever arranged adjacent the vehicle body right/left center in the vicinity of the steering wheel, a rotation shaft operably connected to the control lever to be rotated about a right/left axis that extends in the vehicle body right/left direction, and a control cable operably connected to the rotation shaft. A base end portion of the control cable is more offset toward the one side than the assist device. 1. A vehicle comprising:a steering wheel arranged offset toward one side in a vehicle body right/left direction relative to a vehicle body right/left center; and a link mechanism operably connected to the steering wheel, the link mechanism extending from a right/left center side of the steering wheel toward a vehicle body right/left center side to be operably connected to a wheel side,', 'an assist device operable to supply assistive motive power to the link mechanism in accordance with operation of the steering wheel,', 'a control lever arranged adjacent the vehicle body right/left center in a vicinity of the steering wheel,', 'a rotation shaft operably connected to the control lever to be rotatable about a right/left axis that extends in the vehicle body right/left direction, and', 'a control cable operably connected to the rotation shaft, a base end portion of the control cable being more offset toward the one side in the vehicle body right/left direction than the assist device., 'an electric power steering unit operable to assist operation of the steering wheel, the electric power steering unit including2. ...

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 ...

ARRANGEMENT FOR MOUNTING OCCUPANT PROTECTION DEVICE

Disclosed herein is a structure for mounting an occupant protection system in a vehicle. The structure includes an electric power steering device () and a knee protection air bag assembly (). The device () includes a steering column (). The assembly () includes a bag () configured to expand to protect knees () of an occupant () seated on a driver's seat () of the vehicle. The steering column () includes a drive member () of the device (). The assembly () is located below the drive member (). 1. A structure for mounting an occupant protection system in a vehicle and the structure comprising:an electric power steering device including a steering column supporting a steering wheel of the vehicle, the steering column attached to a steering member; anda knee protection air bag assembly including a bag configured to expand if the vehicle collides with an obstacle to protect knees of an occupant seated on a driver's seat of the vehicle, whereinthe steering column includes a drive member of the electric power steering device, andthe knee protection air bag assembly is located below the drive member.2. The structure of claim 1 , whereinthe knee protection air bag assembly is attached to the drive member.3. The structure of claim 2 , whereinthe steering column includes a tilt mechanism configured to control a vertical position of the steering wheel,a lower panel of a dashboard of the vehicle is located closer to a rear of the vehicle than the knee protection air bag assembly, andthe knee protection air bag assembly is configured such that the bag expands through a region under a lower end of the lower panel beyond the lower panel toward the rear of the vehicle, if the vehicle collides with the obstacle.4. The structure of claim 3 , whereinthe steering column includes a front mount portion and a rear mount portion,the front and rear mount portions are attached to the steering member, and spaced apart from each other in a vehicle longitudinal direction, andthe drive member is ...

MOTOR VEHICLE, SYSTEM AND METHOD FOR OPERATING SUCH A MOTOR VEHICLE AND SUCH A SYSTEM

A motor vehicle has a control device, a first sensor and a global positioning device. The control device has a control unit and a data memory. At least one item of information about an arrangement of an overhead line is stored on the data memory. The control unit is connected to the first sensor and to the global positioning device. The first sensor determines a position of the overhead line relative to the motor vehicle and provides the control unit with the relative position. The global positioning device determines a global position of the motor vehicle and provides the control unit with it. The control unit, on the basis of the established relative position, the established global position and the information about the arrangement of the overhead line, calculates a position of the motor vehicle. 1. A motor vehicle , comprising:a first sensor;a global positioning device;a control device having a control unit and a data memory, wherein at least one item of information about a configuration of an overhead line is stored in said data memory, said control unit is connected to said first sensor and to said global positioning device;said first sensor determining a position of the overhead line relative to the motor vehicle and providing said control unit with a relative position;said global positioning device determining a global position of the motor vehicle on a basis of data signals from different satellites and, on a basis of acquired data signals, calculates the global position of the motor vehicle and provides said control unit with the global position;said control unit, on a basis of the relative position, the global position and the information about the configuration of the overhead line, calculates a position of the motor vehicle;a second sensor connected to said control unit, said second sensor establishing a trajectory of the motor vehicle and providing said control unit with an established trajectory;contact strips;said control unit, on a basis of the ...

TEST METHOD AND METRICS TO EVALUATE QUALITY OF ROAD FEEDBACK TO DRIVER IN A STEER-BY-WIRE SYSTEM

A method to evaluate a quality of road feedback to a driver in a steer-by-wire system includes setting a test bench by grounding a steering system steering wheel using a physical 6order impedance constraint; preloading the steering system with data defining a steering wheel angle and a vehicle speed; applying tie rod load signals to the steering system and recording signals representing each of a tie rod load, a steering wheel torque and a steering wheel acceleration. In parallel: applying first a fast Fourier transform algorithm to the recorded signals to calculate each of a gain, a phase and a coherence response from the tie rod load to the steering wheel torque; applying second a fast Fourier transform algorithm to the recorded signals to calculate a power spectral density of the steering wheel torque versus frequency; and applying frequency weighting functions to the gain and power spectral density functions. 1. A method to evaluate a quality of road feedback to a driver in a steer-by-wire system , comprising:fixing a torque feedback actuator and a steering rack of a steer-by-wire feedback system on a test bench;synthesizing road input waveform data equating to each of a rough road, a coarse road, and a synthesized load from an exemplary single high input defining a pot-hole impact; andgenerating output signals from a set of waveform inputs equating to the synthesized road input waveform data for a steering wheel torque and a steering wheel acceleration.2. The method to evaluate a quality of road feedback to a driver in a steer-by-wire system of claim 1 , further including:recording the output signals; andapplying a first fast Fourier transform algorithm to the recorded signals.3. The method to evaluate a quality of road feedback to a driver in a steer-by-wire system of claim 2 , further including calculating a gain response with a weighting function over predetermined frequency bands.4. The method to evaluate a quality of road feedback to a driver in a steer-by ...

METHODS AND APPARATUS FOR CONTROLLING THE RAMP IN OF CURRENT TO AN ELECTRONIC POWER ASSISTED STEERING MOTOR ASSOCIATED WITH AN AUTO STOP-START ENGINE

Methods and apparatus for controlling the ramp in of current to an electronic power assisted steering motor associated with an auto stop-start engine are described. A controller is to determine a moving average voltage of a vehicle battery. The controller is also to determine a voltage rate of change based on the moving average voltage. The controller is also to determine a moving average engine speed of an auto stop-start engine of the vehicle. The controller is also to ramp in current to an electronic power assisted steering motor of the vehicle based on the moving average voltage, the voltage rate of change, and the moving average engine speed. 1. An apparatus comprising: determine a moving average voltage of a vehicle battery;', 'determine a voltage rate of change based on the moving average voltage;', 'determine a moving average engine speed of an auto stop-start engine of the vehicle; and', 'ramp in current to an electronic power assisted steering motor of the vehicle based on the moving average voltage, the voltage rate of change, and the moving average engine speed., 'a controller to2. The apparatus of claim 1 , wherein the controller is to ramp in the current in response to determining that the moving average voltage exceeds a voltage threshold claim 1 , that the voltage rate of change is greater than or equal to zero claim 1 , and that the moving average engine speed exceeds an engine speed threshold.3. The apparatus of claim 2 , wherein the voltage threshold is configurable.4. The apparatus of claim 2 , wherein the voltage threshold is between nine volts and eleven volts.5. The apparatus of claim 2 , wherein the engine speed threshold is configurable.6. The apparatus of claim 2 , wherein the engine speed threshold is between sixty percent and ninety percent of an idle engine speed of the auto stop-start engine7. The apparatus of claim 1 , wherein the controller is to determine a voltage buffer based on detected voltages of the vehicle battery claim 1 , ...

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.

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 ...

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 ...

STEERING DEVICE

A steering device includes a steering member, a steering operation mechanism, a reactive force motor, a steering motor that drives the steering operation mechanism, a steering torque sensor, and an electronic control unit. The electronic control unit sets a manual steering angle command value. The electronic control unit computes a reactive-force-related composite angle command value. The electronic control unit computes a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value. The electronic control unit causes a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value. The electronic control unit causes a rotational angle of the steering motor to follow the steering-related composite angle command value. The electronic control unit estimates a first disturbance torque. 1. A steering device , comprising:a steering member;a steering operation mechanism mechanically separated from the steering member;a reactive force motor configured to impart reactive force torque to the steering member;a steering motor configured to drive the steering operation mechanism;a steering torque sensor configured to detect steering torque imparted to the steering member; andan electronic control unit, whereinthe electronic control unit is configured to set a manual steering angle command value based on the steering torque,the electronic control unit is configured to compute a reactive-force-related composite angle command value based on a reactive-force-related automatic steering angle command value and the manual steering angle command value,the electronic control unit is configured to compute a steering-related composite angle command value based on a steering-related automatic steering angle command value and the manual steering angle command value,the electronic control unit is configured to cause a rotational angle of the ...

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 ...

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 ...

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 ...

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 ...