Method and control structure for controlling a control angle and an output torque of a superposition angle actuator

• US 20070225884A1
• Filed: 02/02/2007
• Published: 09/27/2007
• Est. Priority Date: 02/02/2006
• Status: Active Grant

• Current Assignee: Robert Bosch Automotive Steering GmbH (Robert Bosch GmbH)
• Original Assignee: ZF Lenksysteme GmbH (Robert Bosch GmbH)
• Inventors: Klier, Willy, Grossheim, Reinhard
• Granted Patent: US 7,853,379 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• 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

A control method is for controlling a control angle and an output torque of a superposition angle actuator of a superimposed steering system of a motor vehicle. At least the control of the control angle occurs with the aid of a nonlinear compensation controller.

Claims

1. A method, comprising:

controlling a control angle and an output torque of a superposition angle actuator of a superimposed steering system of a motor vehicle;

wherein at least the controlling of the control angle is performed by a nonlinear compensation controller.

2. The method according to claim 1, wherein the superposition angle actuator includes an electric motor.

3. The method according to claim 2, wherein the controlling of the output torque is performed by a current control of the electric motor.

4. The method according to claim 1, wherein the current control of the electric motor is field-oriented.

5. The method according to claim 1, wherein the controlling of the output torque is performed with a nonlinear compensation controller.

6. The method according to claim 1, wherein the nonlinear compensation controller includes a computed-torque controller.

7. The method according to claim 1, wherein the non-linear compensation controller is based on an exact linearization.

8. The method according to claim 1, wherein the nonlinear compensation controller includes a sliding-mode controller.

9. The method according to claim 8, further comprising compensating for system uncertainties with a discontinuous controller.

10. The method according to claim 1, wherein the controlling is performed with at least one differentiating prefilter.

11. The method according to claim 1, further comprising performing a model-based estimate of a resulting gear rack force of the superimposed steering system.

12. The method according to claim 1, further comprising performing a pole specification of at least two pole positions.

13. A device, comprising:

a control structure adapted to control a control angle and an output torque of a superposition angle actuator of a superimposed steering system of a motor vehicle, the control structure including a nonlinear compensation controller adapted to at least control the control angle.

14. The device according to claim 13, wherein the nonlinear compensation controller is adapted to control the output torque.

15. The device according to claim 13, wherein the device includes an arrangement adapted to perform a method, the method including:

controlling the control angle and the output torque of the superposition angle actuator of the superimposed steering system of a motor vehicle;

wherein at least the controlling of the control angle is performed by the nonlinear compensation controller.

16. A computer-readable medium having stored thereon instructions adapted to be executed by a processor, the instructions which, when executed, cause the processor to perform a control method for controlling a control angle and an output torque of a superposition angle actuator of a superimposed steering system of a motor vehicle, at least the controlling of the control angle being performed by a nonlinear compensation controller.

17. A superimposed steering system of a motor vehicle, comprising:

a steering handle adapted to specify a steering wheel angle as a measure for a desired steering angle for at least one steerable wheel of the motor vehicle;

a steering gear adapted to convert the steering wheel angle into the desired steering angle of the at least one steerable wheel of the motor vehicle;

a superposition device adapted to produce a steering angle by a superposition angle actuator and to produce an input angle of the steering gear from a superposition of the steering wheel angle with the control angle; and

a control structure adapted to control the control angle and an output torque of the superposition angle actuator, the control structure including a nonlinear compensation controller adapted to at least control the control angle, control structure adapted to control the superposition angle actuator.