Patent Application
20090071745
The present invention relates to a control unit for an electric power steering apparatus structured such as to apply a steering assist force generated by a motor to a steering system of an automobile or a vehicle, and more particularly to a control unit for an electric power steering apparatus which lightens a load applied to a driver by a torsion force of a tire being rapidly released at an assist-stop time of the control unit, and is improved such that the driver does not feel an uncomfortable feeling.
An electric power steering apparatus energizing a steering apparatus of an automobile or a vehicle by an assist load on the basis of a rotating force of a motor is structured such as to apply a driving force of the motor as the assist load to a steering shaft or a rack shaft by a transmission mechanism such as a gear, a belt or the like via a reduction gear. The conventional electric power steering apparatus executes a feedback control of a motor current for accurately generating an assist torque (a steering assist torque). The feedback control is structured such as to regulate a motor applied voltage in such a manner that a difference between a current command value and a motor current detected value becomes small or zero, and the motor applied voltage is generally regulated by regulating a duty ratio of a pulse width modulation (PWM) control.
In this case, a description will be given of a general structure of the electric power steering apparatus with reference to
A column shaft 2 of a steering wheel 1 is coupled to a tie rod 6 of steered wheels via reduction gear 3, universal joints 4A and 4B and a pinion rack mechanism 5. The column shaft 2 is provided with a torque sensor 10 detecting a steering torque of the steering wheel 1, and a motor 20 assisting a steering force of the steering wheel 1 is coupled to the column shaft 2 via the reduction gear 3. An electric power is supplied to a control unit 30 controlling the power steering apparatus from a battery 14, and an ignition key signal is input to the control unit 30 from an ignition key 11, whereby the control unit 30 calculates a steering assist command value I of the assist command on the basis of a steering torque T detected by the torque sensor 10 and a vehicle speed V detected by the vehicle speed sensor 12, and the electric current supplied to the motor 20 is controlled on the basis of the calculated steering assist command value I.
The control unit 30 is mainly constituted by a CPU (or aMPU or a MCU), however, a general function executed by a program in an inner portion of the CPU is shown by
A description will be given of a function and an operation of the control unit 30 with reference to
The steering assist command value I is inputted to a subtracter 30A, and is inputted to a differential compensator 34 of a feedforward control system for increasing a response speed, and a deviation (I−i) determined by the subtracter 30A is inputted to a proportional calculating device 35, and is inputted to an integral calculating device 36 for improving a characteristic of a feedback control system. A proportional output form the proportional calculating device 35 and an output of the integral calculating device 36 are inputted to an adder 30B, an output of the differential compensator 34 is also added to the adder 30B, and a current command value E corresponding to a result of addition in the adder 30B is inputted as a motor driving signal to a motor drive circuit 37. A motor current value i of the motor 20 is detected by a motor current detecting circuit 38, and the motor current detected value i is inputted to the subtracter 30A so as to be feedbacked. The motor drive circuit 37 is structured by an H bridge (in the case of a two-phase motor) or a three-phase bridge circuit (in the case of a three-phase motor) of a driving element constituted by FETs or the like.
The electric power steering apparatus mentioned above stops the assist on the basis of the motor control, in the case that the ignition key 11 is turned to an off-state from an on-state, the case that a stop signal is generated from a fault diagnosing means (not shown) detecting a fault of the control apparatus and the like. At a time of the assist-stop as mentioned above, a torsion force of the tire is rapidly released, and a load applied to the steering by the driver is increased, so that an uncomfortable feeling is generated in the steering.
Conventionally, as the electric power steering apparatus associated with the problem mentioned above, there are structures shown in Japanese Patent Publication Nos. H7-94226 B2 and H7-94227 B2.
An electric power steering apparatus described in Japanese Patent Publication No. H7-94226 B2 is provided with an operation-stop detecting means detecting an operation-stop command of an electric motor control signal generating means, and a correcting means reducing the electric motor control signal gradually on the basis of a detection signal from the operation-stop detecting means, and the correcting means is provided between the electric motor control signal generating means and the electric motor driving means.
In the structure mentioned above, when the switches 112 stopping the operation of the apparatus itself is turned off, and when the stop signal is outputted from the fault diagnosing means 113, the operation-stop detecting means 114 detects the fact that the operation of the apparatus is stopped on the basis of the signals. Further, the correcting means 120 reduces the electric motor control signal gradually on the basis of the detection signal from the operation-stop detecting means 114 so as to output to the electric motor driving means 111, thereby stopping the electric motor slowly.
Further, a electric power steering apparatus shown in Japanese Patent Publication No. H7-94227 B2 is structured such as to be provided with an initial state detecting means detecting an operation-start state of an electric motor control signal generating means, and a correcting means correcting an electric motor control signal in such a manner as to increase the electric motor control signal gradually to a decided value, and the correcting means is provided between the electric motor control signal generating means and the electric motor driving means.
In the methods respectively shown in Japanese Patent Publications Nos. H7-94226 B2 and H7-94227 B2, since the electric motor control signal is decreased or increased independently from the electric motor control signal generating means, there is a problem that it is impossible to operate a motor control signal monitoring means during the decrease or increase of the motor control signal. In other words, in the case of detecting the operation-stop state or the initial state, a result of calculation of the motor control signal is changed by force so as to be decreased or increased gradually, so that the result of calculation of the motor control signal is corrected. Accordingly, the relation between the normal steering detection signal and the current actually driving the motor is not established, and it is unavoidable to stop the monitoring during the correcting operation.
As an apparatus for solving the problem mentioned above, there is a structure shown in Japanese Patent Application Laid-open No. 2002-127926 A.
In the structure mentioned above, a description will be given of an operation thereof with reference to a flow chart in
First, the step initializes a whole of a control system (Step S1), and the fault diagnosing means 42 inputs the steering torque detection signal from the steering torque detecting means 41 (Step S2), and executes a fault diagnosis (Step S3). The fault diagnosing means 42 next inputs a current detection signal from the motor driving means 47 (Step S4), and executes a similar fault diagnosis (Step S5), the motor control signal monitoring means 44 executes a monitoring function, and the operation-stop detecting means 46 inputs the detection signal from the key switch 45 (Step S6), further inputs a battery voltage (Step S7), and determines whether or not the operation-stop state is generated by any one of a fault generation, a key switch operation and a transition of the battery voltage to the outside of the operating range (Step S10). If the operating state does not stop, the motor control signal generating means 43 calculates the motor control signal in accordance with the steering torque detection signal from the steering torque detecting means 41 via the steering torque input correcting means 50 (Step S11), and outputs the motor control signal (Step S12). Accordingly, the motor is controlled so as to be driven via the motor driving means 47. Together with this operation, the step is returned to the Step S2 mentioned above.
On the other hand, in the case that the operation-stop state is determined by the operation-stop detecting means 46 in the Step S10 mentioned above, the steering torque detection signal from the steering torque detecting means 41 is decreased in accordance with the time in the steering torque input correcting means 50 (Step S13), and a complete operation-stop condition (Step S14) is determined, and the motor control signal monitoring means 44 determines whether the steering torque correction signal is “0” or not (Step S15). If the steering torque correction signal is not “0”, the step goes to the Step S11 mentioned above, and if it is “0”, the step is finished by stopping the electric power steering apparatus (EPS) (Step S16). In this case, the determination of the Step S14 mentioned above corresponds to a determination of a complete operation-stop caused by a normal lower voltage drop.
An assist torque characteristic in Japanese Patent Application No. 2002-127926 A mentioned above becomes as shown in
On the other hand, since the electric power steering apparatus requires a lot of electric power in a limited power supply environment, that is, an automotive power supply, a further voltage drop is caused by consuming a lot of electric power at a time of the voltage drop. Accordingly, if the process mentioned above is executed in the case that the voltage drop is significant, there is a problem that the voltage drop stops the other electrical equipment as well as the electric power steering apparatus, even an engine of a vehicle by extension, and there is a region which can not keep a normal operation at a time of the voltage drop. Therefore, in the conventional structure, in the case of entering into the region which can not keep the normal operation due to the voltage drop even during the assist lowering for preventing the torsion of the tire, such a control as to stop the assist is executed.
In this case, since the voltage is lowered gradually under the normal used condition, such the tire torsion as to apply the uncomfortable feeling to the driver is not left on the basis of the previous lowering process even if the assist is stopped during the assist-lowering process for preventing the tire torsion.
However, the electric power steering applied-vehicle kind has been enlarged in size recently, a torsion force generated for increasing the assist force is enlarged, a necessary amount for the preventing process is increased, and an electric power consumption is increased due to the increase of the assist force, so that a possibility that the voltage is lowered during the preventing process is increased. Further, a performance demanded for the electric power steering apparatus becomes high. Under these circumstances mentioned above, the electric power steering apparatus is demanded to carry over the tire torsion preventing process as long as possible.
Further, the control unit for the electric power steering apparatus is constituted by a plurality of function blocks as shown in
The present invention is made by taking the circumstances mentioned above into consideration, and an object of the present invention is to provide a high-performance control unit for an electric power steering apparatus structured such as to improve a steering feeling at a time of a control-stop of the control unit without stopping a function of a motor control signal monitoring means even in the case of stopping a motor control in a low voltage side or a high voltage side outside a normal operation range of a battery voltage, lighten a load applied to a driver due to a rapid release of a tire torsion force at a time of stopping an assist, and prevent a driver from feeling an uncomfortable feeling.
The present invention relates to a control unit for an electric power steering apparatus provided with a motor coupled to a steering system of a vehicle and generating a steering assist torque on the basis of a current command value, a steering torque detecting means detecting a steering torque of the steering system, and a motor driving means driving the motor on the basis of the steering torque detected by the steering torque detecting means, and the object mentioned above of the present invention can be achieved by correcting the steering torque by a steering torque input correcting means in a region in which a normal control of the motor can be executed, and brake controlling the motor in a region in which the normal control of the motor can not be executed, at a time of stopping the motor during the generation of the steering assist torque, and the brake control can be achieved by calculating a steering torque correction short-amount and providing a means for applying an electromagnetic brake to the motor in correspondence to the steering torque correction short-amount.
The object mentioned above of the present invention can be more effectively achieved by the steering torque correction short-amount being constituted by a time, or the electromagnetic brake being executed by a short circuit of terminals of the motor.
The present invention relates to a control unit for an electric power steering apparatus provided with a steered state detecting means detecting a steered state of a steering system, a motor control signal generating means deciding a motor control signal on the basis of the steered state detecting signal from the steered state detecting means so as to output, a motor driving means driving a motor on the basis of the motor control signal from the motor control signal generating means, a motor control signal monitoring means executing a monitoring of the motor control signal generating means on the basis of the signals from the steered state detecting means and the motor driving means, an operation-stop detecting means detecting an operation-stop command of the motor control signal generating means, and a steered state signal correcting means provided between the steered state detecting means and the motor control signal generating means, and the object mentioned above of the present invention can be achieved by a structure in which the control apparatus is provided with a steering torque correction short-amount calculating means calculating a steering torque correction short-amount on the basis of a detection of the operation-stop detecting means, and an electromagnetic brake means provided within the motor control signal generating means, the steered state signal correcting means corrects a steered state detection signal corresponding to an input of the motor control signal generating means in accordance with a time on the basis of the detection signal from the operation-stop detecting means, the steering torque correction short-amount calculating means calculates the steering torque correction short-amount so as to output a brake signal when the operation-stop detecting means detects a complete operation-stop, and the electromagnetic brake means applies an electromagnetic brake to the motor in accordance with the brake signal.
Further, the present invention relates to a control unit for an electric power steering apparatus provided with a steered state detecting means detecting a steered state of a steering system, a motor control signal generating means deciding a motor control signal on the basis of the steered state detecting signal from the steered state detecting means so as to output, a motor driving means driving a motor on the basis of the motor control signal from the motor control signal generating means, an operation-stop detecting means detecting an operation-stop command of the motor control signal generating means, a plurality of steered state signal correcting means provided between the steered state detecting means and the motor control signal generating means, and a correcting method selecting means for selectively utilizing a plurality of steered state signal correcting means, and the object mentioned above of the present invention can be achieved by a structure in which the control unit is provided with a steering torque correction short-amount calculating means calculating a steering torque correction short-amount on the basis of a detection of the operation-stop detecting means, and an electromagnetic brake means provided within the motor control signal generating means, the steered state signal correcting means selected by the correcting method selecting means corrects a steered state detection signal corresponding to an input of the motor control signal generating means in accordance with a time on the basis of the detection signal from the operation-stop detecting means, the steering torque correction short-amount calculating means calculates the steering torque correction short-amount so as to output a brake signal when the operation-stop detecting means detects a complete operation-stop, and the electromagnetic brake means applies an electromagnetic brake to the motor in accordance with the brake signal.
The object mentioned above of the present invention can be more effectively achieved by determining the steering torque correction short-amount by time, or the electromagnetic brake being executed by a short-circuit of terminals of the motor, or setting a function of determining a restart condition after the short-circuit and restarting in the case of satisfying the restart condition.
The present invention is structured such as to calculate a steering torque correction short-amount at a time of stopping a motor during generation of a steering assist torque of an electric power steering apparatus, that is, at a time of stopping an assist, and carry over a tire torsion force preventing process as long as possible by applying an electromagnetic brake to the motor in correspondence to the calculated steering torque correction short-amount. Since the electromagnetic brake is structured such as to operate with a power generator by short-circuiting a motor terminal and apply the brake on the basis of a regenerative braking generated by the power generator, it is possible to achieve the tire torsion force prevention without supplying any electric power to the motor. Further, since a motor control signal is calculated by using a steered state detection signal after decreasing or increasing a signal corresponding to a motor current command in accordance with a time, as a result of calculation by a motor control signal generating means itself, while keeping a function of the motor control signal generating means, and detecting an operation-stop state or a control-start state, it is possible to monitor even during the correction. Since it is possible to correct while keeping the other control blocks than a torque system, by correcting the torque system, it is possible to execute a stable correction.
A description will be given below of an embodiment in accordance with the present invention with reference to the accompanying drawings.
A steering torque detection signal from a steering torque detecting means 41 constituting a steered state detecting means is inputted to a steering torque input correcting means 50 and a fault diagnosing means 42, and a steering torque detection signal correction signal corrected by the steering torque input correcting means 50 is inputted to the motor control signal generating means 43 and a motor control signal monitoring means 44. Further, an output of a key switch 45 is inputted to the operation-stop detecting means 46, and a motor driving means 47 controls so as to drive the motor in accordance with a motor control signal from the motor control signal generating means 43. The fault diagnosing means 42 monitors whether or not a fault is generated in the steering torque detecting means 41, the motor control signal monitoring means 44 and the motor driving means 47, and a result of diagnosis of the fault diagnosing means 42 is inputted to the operation-stop detecting means 46 and the motor control signal generating means 43. The operation-stop detecting means 46 is structured such as to detect an operation-stop command of the motor control signal generating means 43 on the basis of a detection of an off-operation by the key switch 45, or a detection of a fault generation by the fault diagnosing means 42. In this case, a battery voltage is inputted to the operation-stop detecting means 46.
In the structure mentioned above, a description will be given of an operation thereof with reference to a flow chart in
First, the step initializes a whole of a control system (Step S20), and the fault diagnosing means 42 inputs the steering torque detection signal from the steering torque detecting means 41 (Step S21), and executes a fault diagnosis (Step S22). The fault diagnosing means 42 next inputs a current detection signal from the motor driving means 47 (Step S23), and executes a similar fault diagnosis (Step S24), the motor control signal monitoring means 44 executes a monitoring function, and the operation-stop detecting means 46 inputs the detection signal from the key switch 35 (Step S25), further inputs a battery voltage (Step S26), and determines whether or not the operation-stop state is generated by any one of a fault generation, a key switch operation and a transition of the battery voltage to the outside of the operating range (Step S30). If the operating state does not stop, the motor control signal generating means 43 calculates the motor control signal in accordance with the steering torque detection signal from the steering torque detecting means 41 via the steering torque input correcting means 50 (Step S31), and outputs the motor control signal (Step S32). Accordingly, the motor is controlled so as to be driven via the motor driving means 47. Together with this operation, the step is returned to the Step S21 mentioned above.
On the other hand, in the case that the operation-stop state is determined by the operation-stop detecting means 46 in the Step S30 mentioned above, the step decreases the steering torque detection signal from the steering torque detecting means 41 in accordance with the time in the steering torque input correcting means 50 (Step S33), and determines a complete operation-stop condition (Step S34), and the motor control signal monitoring means 44 determines whether or not the steering torque correction signal is “0” (Step S35). If the steering torque correction signal is not “0”, the step goes to the Step S31 mentioned above, and if it is “0”, the step is finished by stopping the electric power steering apparatus (EPS) (Step S36). In this case, the determination of the Step S34 mentioned above corresponds to a determination of a complete operation-stop caused by a lower normal voltage drop than the normal case.
If the complete operation-stop condition is determined by the operation-stop detecting means 46 in the Step S34 mentioned above, the steering torque correction short-amount calculating means 60 calculates a necessary electromagnetic brake amount in accordance with a method shown in
Further, if the brake signal Br is input to the electromagnetic brake means 43A from the steering torque correction short-amount calculating means 60, the electromagnetic brake means 43A turns on, for example, all of a lower stage of switching elements (for example, FET) within a drive circuit as shown in
In this case, the electromagnetic brake control may turn on the switching elements in the upper stage and turn off the switching elements in the lower stage inversely to
Thereafter, the step determines the end of the brake control on the basis of whether or not the brake remaining amount becomes smaller than a predetermined value or the like (Step S43), and determines whether or not a restart condition (whether or not the voltage returns to a voltage capable of starting the normal control during the brake control, or whether or not an ignition key is reclosed or the like) is established in the case that the brake control is not finished (Step S44), and the step returns to the Step S21 in the case that the restart condition is established. Further, in the case that the brake control is finished in the Step S43, the step stops the electric power steering apparatus so as to finish in the case that the restart condition is not established in the Step S44 mentioned above (Step S36).
An assist characteristic as shown in
The present example is provided with the steering torque input correcting means 51 and 52 having the different characteristics, and is provided with the correcting method selecting means 48 for selecting an optimum correcting means for the system on the basis of the detection signal from the operation-stop detecting means 46. It is possible to optimally decrease the steering torque detection signal input to the motor control signal generating means 43 in correspondence to a state of the system by switching the steering torque input correcting means 51 and 52 by the correcting method selecting means 48. As a condition for switching the steering torque input correcting means 51 and 52, there is a stop time of the normal system on the basis of the off-operation of the ignition key, a stop time of the system serving as a fail-safe caused by a fault of the steering torque input system, and the like.
In the case that the correcting method selecting means 48 determines the correction on the basis of the off-operation of the ignition key, the normal torque input is used as an input of the motor control signal generating means 43, an attenuation at a fixed gain is executed as a correction, and a time of correction in the steering torque input correcting means 51 is set to a sufficiently long time. In the case that the correction on the basis of the fault detection of the torque system is determined, a torque input value before a fail is used as the input of the motor control signal generating means 43, an attenuation of a maximum input value is executed as a correction in the steering torque input correcting means 52, and the correction is finished in a short time.
In the structure mentioned above, an operation thereof is the same as the flow chart in
In the case of stopping the motor in the state in which the steering assist torque is generated, the returning force of the torsion of the steering system caused by the steering operation is applied to the steering wheel coupled to the steering system via the steering system, however, in accordance with the control unit for the electric power steering apparatus on the basis of the present invention, the returning force of the torsion is applied to the motor and the motor comes to the regenerative braking state by short-circuiting between the terminals of the motor at a time of stopping the motor, so that it is possible to achieve an effect capable of suppressing the returning force and suppressing the returning force applied to the steering wheel.
Further, in accordance with the present invention, since the electromagnetic brake state is formed by decreasing the assist gradually and short-circuiting between the motor terminals at a time of the low voltage, it is possible to prevent the tire torsion force without supplying any electric power to the motor.
Further, in accordance with the present invention, since the correction can be executed while keeping the operation of control block except the torque system, by decreasing or increasing the signal corresponding to the motor current command in accordance with the time, as a result of calculation by the motor control signal generating means itself, while keeping the function of the motor control signal generating means, and correcting the torque system by calculating the motor control signal while using the steered state detection signal after detecting the operation-stop state or the control-start state, it is possible to execute a stable correction.
In this case, in the description mentioned above, the description is given particularly of the case of the low voltage side control in the other range than the battery voltage normal operation range, as the voltage condition of the motor control-stop, however, it goes without saying that the present invention is not limited to this, but can be applied to the motor-stop control in the high voltage side in the other range than the predetermined battery voltage normal operation range, and the same effect as the low voltage side control can be obtained.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2005-147622 | May 2005 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2006/310507 | 5/19/2006 | WO | 00 | 11/20/2007 |
