This application is based on and incorporates herein by reference Japanese Patent Application No. 2001-305075 filed on Oct. 1, 2001.
1. Field of the Invention
The present invention relates to a power steering system, which provides steering assisting force to a steering shaft.
2. Description of Related Art
Generally, in an electric power steering system, a torque sensor converts a torsional torque of a steering shaft, which is generated by steering of a steering wheel connected to the steering shaft, to an analog signal (voltage) and outputs it to an electronic control unit (ECU). In the ECU, an analogue to digital (AD) converter circuit converts the analogue signal to a corresponding digital value.
Therefore, when there is a difference between a reference voltage of the torque sensor and a reference voltage of the AD converter circuit, the measured torque value becomes erroneous and is not accurately transmitted. Thus, the voltage of the torque sensor and the voltage of the AD converter need to be matched with each other.
Japanese Unexamined Patent Publication No. 2001-88728 discloses such an electric power steering system. In the disclosed electric power steering system, a reference voltage of a torque sensor and a reference voltage of an AD converter circuit are supplied from a common power source to address the above disadvantage.
However, since the torque sensor and the ECU are distant from each other, for example, a voltage drop in electric lines, which connect between the torque sensor and the ECU, can occur, so that it is difficult to match the reference voltage of the torque sensor and the reference voltage of the AD converter with each other.
Furthermore, precise relative adjustment between the torque sensor and the ECU is required, and relatively high tolerance is required for the performance of the torque sensor. As a result, manufacturing and assembling costs are increased.
Furthermore, there are many difficulties in implementing of two or three torque sensors in the power steering system.
Thus, it is an objective of the present invention to provide a power steering system, which allows transmission of an amount of torsional twist of an elastic body (rod-shaped body) measured by a torque sensor to be transmitted to a drive device of the power steering system without substantially influenced by disturbances, such as a change in a power source voltage and a change in temperature.
To achieve the objective of the present invention, there is provided a power steering system for a vehicle. The power steering system includes a steering shaft, an elastic member, a torque sensor, an electric motor, a drive circuit and a motor control means for controlling the electric motor. The elastic member is connected to the steering shaft and is twistable around an axis of the elastic member by a steering torque applied to the steering shaft. The torque sensor includes a galvanomagnetic element, an AD converter circuit and a transfer means for transferring the digital signal. The galvanomagnetic element outputs an analogue electrical signal corresponding to an amount of torsional twist of the elastic member, which is twisted by the steering torque. The AD converter circuit converts the analogue electrical signal to a digital signal. The electric motor applies a steering assisting force to the steering shaft or a steering rack connected to the steering shaft. The drive circuit drives the electric motor. The motor control means controls the electric motor through the drive circuit. The motor control means obtains a value of the steering torque based on the digital signal transmitted from the transfer means and outputs a drive signal to the drive circuit in such a manner that electric current corresponding to the steering torque is supplied to the electric motor.
The transfer means can be replaced with a communication means for performing digital communications. Furthermore, the motor control means can include an electric power steering ECU, which includes a digital communication means for communicating with the communication means of the torque sensor and at least one other controller of the vehicle. The electric power steering ECU processes communications with the communication means of the torque sensor and communications with the at least one other controller of the vehicle in such a manner that the communications between the communication means of the torque sensor and the digital communication means of the electric power steering ECU has priority over communications between the at least one other controller of the vehicle and the digital communication means of the electric power steering ECU.
The invention, together with additional objectives, features and advantages thereof, will be best understood from the following description, the appended claims and the accompanying drawings in which:
An embodiment of the present invention will be described with reference to
With reference to
With reference to
The permanent magnet 41 of the torque sensor 4 has a ring shape or annular shape and is coaxially coupled with the input shaft 11. The permanent magnet 41 is magnetized in a circumferential direction. The permanent magnet 41 includes S poles and N poles, which are alternately arranged in the circumferential direction of the permanent magnet 41. A total number of the S poles and the N poles of the permanent magnet 41 is, for example, twenty four.
The magnetic body 42 of the torque sensor 4 is coaxially coupled with the output shaft 12 and is disposed in a magnetic field, which is generated by the permanent magnet 41, to form a magnetic circuit. A magnetic flux density of the magnetic circuit changes when relative position between the magnetic body 42 and the permanent magnet 41 is changed by the steering torque applied to the input shaft 11.
The magnetic body 42 includes a couple of annular magnetic yokes 43, 44 arranged adjacent to an outer peripheral surface of the permanent magnet 41. Each of the magnetic yokes 43, 44 has claws 431, 441, which are circumferentially arranged at equal intervals. A number of the claws 431, 441 of each of the magnetic yokes 43, 44 is the same as the number of the S poles or N poles and is, for example, twelve in this embodiment.
As shown in
As shown in
As shown in
The galvanomagnetic element 31 outputs an analog electrical signal corresponding to a change in the magnetic flux density in the magnetic circuit of the magnetic body 42.
The AD converter circuit 32 is a circuit that converts an analogue signal to a digital signal. Thus, the AD converter circuit 32 converts the analogue electrical signal, which is outputted from the galvanomagnetic element 31, to a corresponding digital signal.
The digital filter 33 is used to remove noises from the digital signal.
The Hall IC 3 is disposed in a gap g between the magnetic yoke 43 and the magnetic yoke 44, which are opposed to one another in the axial direction in FIG. 6B. The galvanomagnetic element 31 of the Hall IC 3 measures a change in the magnetic flux density in the magnetic circuit of the magnetic body 42.
The serial communication circuit 35 performs digital communications with the motor control means 7 at a transmission rate or communication rate of 50 kbps (this transmission rate can be 9600 bps or higher) through a single communication line (i.e., one communication line) 36 and a power supply ground line 37. Numeral 38 in
A rotatable shaft or drive shaft of the electric motor 6 is connected to the steering shaft 1 through a speed reducing mechanism (not shown) to supply a steering assisting force to the steering shaft 1.
The drive circuit 5 includes four power MOSFETs 51-54 and CR parts (not shown) and drives the electric motor 6.
The motor control means 7 is an EPS ECU (serving as an electric power steering ECU). The motor control means 7 computes a steering torque based the digital signal transmitted from the serial communication circuit 35. The motor control means 7 outputs a drive Duty signal to the drive circuit 5 based on the steering torque, a motor electric current and vehicle speed information. The motor electric current is measured with a current sensor 55, and the vehicle speed information is transmitted from a vehicle speed sensor 71. Thus, assisting electric current, which corresponds to the steering torque and is suitable for the steering torque, is supplied to the electric motor 6.
The power MOSFETs 51-54 are driven to provide the electric current in a corresponding direction that is determined based on a sign (+ or −) of a drive torque or a specified value of the motor electric current. For example, in a case of rightward steering, the power MOSFETs 51, 54 are driven under a Duty control, and in a case of leftward steering, the power MOSFETs 52, 53 are driven under a Duty control. In this way, the assisting operation is performed in the direction corresponding to the steering direction.
The power steering system A according to the present embodiment provides the following advantages.
(A) The serial communication circuit 35 of the Hall IC 3 performs digital communications with the motor control means 7 at the transmission rate of 50 kbps through the single communication line 36 and the power supply ground line 37, and the serial communication circuit 35 transmits the digital signal (torque signal) to the motor control means 7.
That is, the torque signal in the form of digital signal is transmitted from the Hall IC 3 to the motor control means 7. Thus, the torque signal is not substantially influenced by disturbances, such as a change in the power source voltage and a change in the temperature.
As a result, even when the disturbances, such as a change in the power source voltage and a change in the temperature, exist, the torque signal is correctly transmitted from the Hall IC 3 to the motor control means 7, so that the power steering device A can apply the appropriate steering assisting force to the steering shaft 1.
Since the digital communications are of serial type, the digital communications can be performed with the smaller number of lines. Specifically, the digital communications can be carried out through the single communication line 36 and the power supply ground line 37. The communications between the torque sensor 4 and the motor control means 7 are performed through the dedicated communication lines. Furthermore, the communications between the torque sensor 4 and the motor control means 7 has priority over any other communications, such as communications between the motor control means (i.e., digital communication means of the motor control means) 7 and another controller or ECU 10 of the vehicle. Thus, there is no substantial queuing of transmitting digital signals, and the processing speed is not reduced.
In a case where digital signals (torque signals) are transmitted through a communication line of an in-vehicle LAN, which performs serial communications, when a relatively heavy communication load is applied to the communication line of the in-vehicle LAN, a processing speed of the ECU is reduced, and queuing of the transmitting digital signals occurs. Thus, the transmission of the digital signals (torque signals) through the communication line of the in-vehicle LAN is not suitable.
The digital communications are performed at the rate as high as 50 kbps, and therefore the electric motor 6 can provide the steering assisting force to the steering shaft 1 without substantial response delay, which could be annoying to the user.
(B) The torque sensor 4 includes the permanent magnet 41, the magnetic body 42 and the Hall IC 3. The permanent magnet 41 has the ring shape and is coaxially coupled with the input shaft 11. The permanent magnet 41 is magnetized in the circumferential direction. The magnetic body 42 is coaxially coupled with the output shaft 12 and is disposed in the magnetic field, which is generated by the permanent magnet 41, to form the magnetic circuit. The magnetic flux density of the magnetic circuit of the magnetic body 42 changes when relative position between the magnetic body 42 and the permanent magnet 41 is changed by the steering torque applied to the input shaft 11. The Hall IC 3 is disposed adjacent to the magnetic body 42 and has the galvanomagnetic element 31, which measures a change in the magnetic flux density in the magnetic circuit of the magnetic body 42.
When the steering torque is applied to the steering shaft 1, the torsion bar 2, which is connected between the input shaft 11 and the output shaft 12, is twisted to generate a torsional torque. Thus, the relative position between the permanent magnet 41 and the magnetic body 42 changes, causing a change in the density of the magnetic flux generated in the magnetic circuit.
The change in the magnetic flux density is detected by the galvanomagnetic element 31, and the torsional torque can be obtained based on the measurement of the galvanomagnetic element 31.
The Hall IC 3 includes the galvanomagnetic element 31, the AD converter circuit 32, the digital filter 33, the AD output register 34, and the serial communication circuit 35. These elements are integrated into the single chip by molding. Thus, the Hall IC 3 has a relatively small profile.
As described above, provision of any electrical contact is not required when the Hall IC 3 is arranged adjacent to the magnetic body 42. In other words, the Hall IC 3 can be provided in the gap g where a change in the magnetic flux density can be detected without making any contact with the steering shaft 1. This allows higher reliability of the power steering system.
Therefore, the low profile Hall IC 3 can be readily provided in the gap g where a change in the magnetic flux density can be detected.
The power steering system according to the above embodiment of the present invention can be modified as follows.
(a) The transfer means can conduct the digital signals only from the torque sensor side to the motor control means side (i.e., one way).
(b) The digital communications between the communication means of the torque sensor and the motor control means can be of a parallel type.
However, although the parallel communications are advantageous over the serial communications in terms of the communication rate, the parallel communication require the greater number of communication lines. For example, in order to transmit 10-bit data, ten communication lines are necessary. Thus, the input circuit of the CPU becomes more complicated.
(c) In general, when the CPU (motor control means) receives the digital signals transmitted from more than one torque sensors, the corresponding number of input ports need to be provided in the CPU.
However, when the single communication line and the power supply ground line are used, and transmissions of the digital signals from the torque sensors are time shifted, the number of the input ports of the CPU can be reduced, for example, to one. In such a case, the number of the AD converter circuits of the ECU can be reduced, so that a load on the ECU can be advantageously reduced.
Furthermore, in place of the Hall element, which serves as the galvanomagnetic element 31, any other galvanomagnetic element, which provides the galvanomagnetic element, can be used. Such a galvanomagnetic element could include an MR element or the like.
Also, in the above embodiment, the motor 6 is connected to the steering shaft 1 through the corresponding speed reducing mechanism to supply the steering assisting force to the steering shaft 1. This can be altered as follows. That is, the motor 6 can be alternatively connected to a steering rack 9 connected to the steering shaft 1, as shown in
Additional advantages and modifications will readily occur to those skilled in the art. The invention in its broader terms is therefore, not limited to the specific details, representative apparatus, and illustrative examples shown and described.
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