Method for detecting a real value of a manipulated variable, particularity of a steering angle

• US 20060247838A1
• Filed: 06/24/2004
• Published: 11/02/2006
• Est. Priority Date: 07/11/2003
• Status: Abandoned Application

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Bauer, Urs
• Application Number:
  US10/564,335
• Publication Number:
  US 20060247838A1
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 5/008 Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

The invention provides a process for the determination of an actual value of a control variable set by an actuator in accordance with a theoretical value. The process is thereby characterized in that, a partial value of an actual value set in accordance with a theoretical partial value consisting of a total of theoretical partial values is determined in dependence on the theoretical partial value in an actuator model formed with at least one parameter corresponding to the partial value, whereby the value of the parameter is determined by means of a deviation between the theoretical total value and a determined actual total value of the control variable. It is suitable, in particular, for the determination of an actual value of a steering angle on steerable wheels of a vehicle, which can be used in a vehicle reference model of a driving dynamics adjustment.

Claims

1. Process for the determination of an actual value of a control variable set by an actuator in accordance with a theoretical value, characterized in that, a partial value (Δ

δ

_VARI;

Δ

δ

_Σ

) of an actual value (Δ

δ

_AFS) set in accordance with a theoretical total value (Δ

δ

_{AFS, req}) consisting of a sum of theoretical partial values (Δ

δ

_{VARI, req}, Δ

δ

_{GRR, req}, Δ

δ

_{GMK, req}) is determined, in dependence on the theoretical partial value (Δ

δ

_{VARI, req};

Δ

δ

<sub>Σ

, req</sub>) corresponding to the partial value (Δ

δ

_VARI;

Δ

δ

_Σ

), in an actuator model formed with at least one parameter (T_AFS), whereby the value ({tilde over (T)}_AFS) of the parameter (T_FAS) is determined by means of a divergence (ε

<sub>δ

, AFS</sub>) between the theoretical total value (Δ

δ

_{AFS, req}) and a determined actual total value (Δ

δ

_AFS) of the control variable.

2. Process in accordance with claim 1, characterized in that, the value ({tilde over (T)}_AFS) of the parameter (T_AFS) is assigned to the value of the deviation (ε

<sub>δ

, AFS</sub>) by means of a characteristic curve.

3. Process in accordance with one or both of the claims 1 and 2, characterized in that, the value ({tilde over (T)}_AFS) of the parameter (T_AFS) is determined by means of an actuator model or a parameter estimation process.

4. Process in accordance with one or more of the preceding claims, characterized in that, the value ({tilde over (T)}_AFS) of the parameter (T_AFS) is determined by means of the same actuator model as the partial value (Δ

δ

_VARI;

Δ

δ

_Σ

) of the actual value (Δ

δ

_AFS) of the control variable.

5. Process in accordance with one or more of the preceding claims, characterized in that, a value ({tilde over (T)}_AFS) for the parameter (T_AFS) is only determined if the rate of change (Δ

{dot over (δ

)}_AFS,req) of the total theoretical value (Δ

δ

_{AFS, req}) and/or the rate of change (Δ

{dot over (δ

)}_AFS) of the total actual value (Δ

δ

_AFS) exceeds a preset threshold value.

6. Process in accordance with one or more of the preceding claims, characterized in that, a value ({tilde over (T)}_APS) for the parameter (T_AFS) is retained if the rate of change (Δ

{dot over (δ

)}_AFS,req) of the total theoretical value (Δ

δ

_{AFS, req}) and/or the rate of change (Δ

{dot over (δ

)}_AFS) of the total actual value (Δ

δ

_AFS) lies below the preset threshold value.

7. Process in accordance with one or more of the preceding claims, characterized in that, the value ({tilde over (T)}_AFS) of the parameter (T_AFS) is limited to a preset interval.

8. Process in accordance with one or more of the preceding claims, characterized in that, a time constant (T_AFS) is determined as the parameter of an actuator model describing a transmission behavior of the actuator.

9. Process in accordance with one or more of the preceding claims, characterized in that, an assessed value (Δ

{tilde over (δ

)}_VARI;

Δ

{tilde over (δ

)}_Σ

) is determined for an actual partial value (Δ

δ

_VARI;

Δ

δ

_Σ

) of a steering angle (Δ

δ

_AFS) set by an actuator of a superimposition steering on the steerable wheels of a vehicle.

10. Process in accordance with one or more of the preceding claims, characterized in that, an assessed value (Δ

{tilde over (δ

)}_VARI) is determined for an actual partial value (Δ

δ

_VARI) of a steering angle changing a transmission ratio of a steering of the vehicle in a manner dependent upon speed, and set by means of a superimposition steering.