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1. WO2016047280 - ELECTRICALLY ACTUATED POWER STEERING DEVICE

Publication Number WO/2016/047280
Publication Date 31.03.2016
International Application No. PCT/JP2015/072211
International Filing Date 05.08.2015
IPC
B62D 6/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
B62D 5/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
B62D 119/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
119Steering wheel torque
CPC
B62D 5/0463
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
0457characterised by control features of the drive means as such
046Controlling the motor
0463for generating assisting torque
B62D 5/0472
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
5Power-assisted or power-driven steering
04electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
0457characterised by control features of the drive means as such
046Controlling the motor
0472for damping vibrations
B62D 6/008
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
008Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
B62D 6/02
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
02responsive only to vehicle speed
B62D 6/06
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
6Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
06responsive only to vehicle vibration dampening arrangements
B62K 21/08
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
KCYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
21Steering devices
08Steering dampers
Applicants
  • 日本精工株式会社 NSK LTD. [JP]/[JP]
Inventors
  • 椿 貴弘 TSUBAKI Takahiro
Agents
  • 安形 雄三 AGATA Yuzo
Priority Data
2014-19297322.09.2014JP
2014-19990930.09.2014JP
2014-20636007.10.2014JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ELECTRICALLY ACTUATED POWER STEERING DEVICE
(FR) DISPOSITIF DE DIRECTION ASSISTÉE ÉLECTRIQUE
(JA) 電動パワーステアリング装置
Abstract
(EN) [Problem] To provide an electrically actuated power steering device that suppresses steering-wheel vibration and improves driver steering response on the basis of assist-map characteristics compensation, not on the basis of the variation in PI control gain. [Solution] An electrically actuated power steering device for providing control for assisting a steering system by calculating a current command value (Ia) using an assist map (161) for inputting steering torque, and driving a motor on the basis of the current command value (Ia); wherein a first compensation part (162) (phase compensation, BPF, advancing compensation) is set up in the first part of the assist map (161), a second compensation part (163) (phase compensation, notch filter, delaying compensation) is set up in the second part, a current command value is calculated according to the characteristic of increasing slope in relation to the absolute value of the steering torque (Th) inputted to the first compensation part (162), the current command value is outputted from the second compensation part (163), and vibration of an operating member is suppressed.
(FR) Cette invention concerne un dispositif de direction assistée électrique qui supprime les vibrations du volant de direction et améliore la réponse de direction du conducteur sur la base d'une compensation de caractéristiques de table d'assistance et non pas sur la base de la variation de gain de commande PI. Ledit dispositif de direction assistée électrique est conçu pour assister un système de direction en calculant une valeur de commande de courant (Ia) au moyen d'une table d'assistance (161) pour fournir en entrée un couple de direction et entraîner un moteur sur la base de la valeur de commande de courant (Ia). Une première partie de compensation (162) (compensation de phase, filtre passe-bande, compensation d'avance) est établie dans la première partie de la table d'assistance (161), une seconde partie de compensation (163) (compensation de phase, filtre à élimination de bande, compensation de retard) est établie dans la seconde partie, une valeur de commande de courant est calculée en fonction de la caractéristique de pente croissante par rapport à la valeur absolue du couple de direction (Th) transmise à la première partie de compensation (162), la valeur de commande de courant est délivrée en sortie à partir de la seconde partie de compensation (163), et les vibrations d'un élément opérationnel sont supprimées.
(JA) (課題)PI制御ゲインの可変ではなく、アシストマップの特性補償に基づいて、ハンドルの振動を抑制すると共に、運転者の操舵フィーリングを向上する電動パワーステアリング装置を提供する。(解決手段)操舵トルクを入力するアシストマップ(161)を用いて電流指令値(Ia)を演算し、前記電流指令値(Ia)に基づいてモータを駆動することにより、操舵系をアシスト制御する電動パワーステアリング装置において、アシストマップ(161)の前段に第1補償部(162)(位相補償、BPF、進み系補償)が配設されると共に、後段に第2補償部(163)(位相補償、ノッチフィルタ、遅れ系補償)が配設され、第1補償部(162)に入力される操舵トルク(Th)の絶対値に対して、勾配が増加する特性で電流指令値が演算されて第2補償部(163)から出力され、操作部材の振動が抑制される。
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