Method for position regulation of an electric drive and for steering a motor vehicle by means of a steer-by-wire system
First Claim
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1. A method for positionally controlling an electric drive (21), characterized by the following method steps:
- determining the actual position (δ
SW) of a steering device (1);
converting said actual-position-(δ
SW) into a setpoint (δ
SW, set) for the position of said electric drive (21);
detecting an actual value (δ
pinion) of the position of said electric drive (21);
generating a control difference (δ
SW−
δ
pinion) between said setpoint and said actual value of the position of said electric drive (21);
adjusting the position of said electric drive (21) according to said control difference (δ
SW, set−
δ
pinion);
adjusting a restoring force acting on said steering device (1) or a restoring torque (MH) acting on said steering device (1) according to the torques and/or forces acting on said electric drive (21) or generated via a family of characteristic curves or a performance graph.
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Abstract
A steer-by-wire system has a structure that supports the development of a modular software program. The structure according to the invention also permits interfaces with higher-order and collateral functions. The steer-by-wire steering system of the invention therefore has versatility of application and is readily adaptable to customer preferences. (FIG. 1)
35 Citations
24 Claims
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1. A method for positionally controlling an electric drive (21), characterized by the following method steps:
-
determining the actual position (δ
SW) of a steering device (1);
converting said actual-position-(δ
SW) into a setpoint (δ
SW, set) for the position of said electric drive (21);
detecting an actual value (δ
pinion) of the position of said electric drive (21);
generating a control difference (δ
SW−
δ
pinion) between said setpoint and said actual value of the position of said electric drive (21);
adjusting the position of said electric drive (21) according to said control difference (δ
SW, set−
δ
pinion);
adjusting a restoring force acting on said steering device (1) or a restoring torque (MH) acting on said steering device (1) according to the torques and/or forces acting on said electric drive (21) or generated via a family of characteristic curves or a performance graph. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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2. A method for steering a motor vehicle, characterized by the following method steps:
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detecting the steering-wheel angle (δ
SW);
converting said steering-wheel angle into a setpoint (δ
SW, set−
δ
pinion) for the position of the steered wheels (11);
detecting an actual value (δ
pinion) of the position of said steered wheels (11);
generating a control difference (δ
SW, set−
δ
pinion) between said setpoint and said actual value of the position of said steered wheels (11);
adjusting the position of said steered wheels (11) according to said control difference (δ
SW, set−
δ
pinion);
adjusting a steering-wheel torque (MM) according to the torques and/or forces prevailing between said steered wheels (11) and a steering controller (15) or generated via a family of characteristic curves or a performance graph.
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11. The method as recited in either of claims claim [sic] 9 and 10, characterized in that said control difference of a third slave controller (55) implemented as a current controller is generated from said current setpoint (Iset) and said actual current (Iactual) of said valve actuator (21), and in that said third slave controller (55) drives said valve actuator (21) via a frequency converter (57).
Specification