STEERING APPARATUS AND STEERING CONTROLLER
First Claim
1. A steering apparatus comprising:
- a steering member that turns turning wheels of a vehicle;
an actuator that assists an operation on the steering member;
a steering angle detector that detects a steering angle of the steering member;
a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and
a steering controller that includesa steering angular velocity coefficient setting unit that sets a steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector, that includes a first negative feedback unit, and that sets the steering angular velocity coefficient for the steering angular velocity having the same magnitude to become larger as a feedback quantity of the first negative feedback unit becomes larger,a torque coefficient setting unit that sets a torque coefficient on the basis of the torque detected by the torque detector, that includes a second negative feedback unit, that sets the torque coefficient for the torque having the same magnitude to become larger as a feedback quantity of the second negative feedback unit becomes larger, and that sets a feedback quantity of the torque coefficient setting unit when the torque is in a predetermined high-frequency range to become larger than a feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range, anda correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient,wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.
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Accused Products
Abstract
A controller of a steering apparatus includes a calculating unit that calculates a correction assistance quantity based on a steering angular velocity coefficient and a torque coefficient, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient depending on a steering angular velocity and that sets the steering angular velocity coefficient to become larger as a feedback quantity of a negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient depending on a steering torque and that sets the torque coefficient to become larger as the feedback quantity of the negative feedback unit becomes larger. The feedback quantity of the torque coefficient setting unit when the steering torque is in a predetermined high-frequency range is larger than the feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range.
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Citations
8 Claims
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1. A steering apparatus comprising:
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a steering member that turns turning wheels of a vehicle; an actuator that assists an operation on the steering member; a steering angle detector that detects a steering angle of the steering member; a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and a steering controller that includes a steering angular velocity coefficient setting unit that sets a steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector, that includes a first negative feedback unit, and that sets the steering angular velocity coefficient for the steering angular velocity having the same magnitude to become larger as a feedback quantity of the first negative feedback unit becomes larger, a torque coefficient setting unit that sets a torque coefficient on the basis of the torque detected by the torque detector, that includes a second negative feedback unit, that sets the torque coefficient for the torque having the same magnitude to become larger as a feedback quantity of the second negative feedback unit becomes larger, and that sets a feedback quantity of the torque coefficient setting unit when the torque is in a predetermined high-frequency range to become larger than a feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range, and a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient, wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity. - View Dependent Claims (2, 3, 4, 5)
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6. A steering apparatus comprising:
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a steering member that turns turning wheels of a vehicle; an actuator that assists an operation on the steering member; a steering angle detector that detects a steering angle of the steering member; a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and a steering controller that includes a steering angular velocity coefficient setting unit that sets a steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector, a torque coefficient setting unit that sets a torque coefficient on the basis of the torque detected by the torque detector and that sets the torque coefficient when the torque is in a predetermined high-frequency range to become larger than the steering angular velocity coefficient when the steering angular velocity is in a predetermined high-frequency range, and a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient, wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.
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7. A steering apparatus comprising:
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a steering member that turns turning wheels of a vehicle; an actuator that assists an operation on the steering member; a steering angle detector that detects a steering angle of the steering member; a torque detector that detects a torque acting on a steering shaft unit rotating along with the steering member; and a steering controller that includes a steering angular velocity coefficient setting unit that includes a first amplifier that amplifies and outputs an input corresponding to the steering angular velocity which is the speed of the steering angle detected by the steering angle detector, a first filter that performs a low-pass filtering process of removing a predetermined high-frequency component of the output of the first amplifier and outputting the resultant as a steering angular velocity coefficient, and a first negative feedback circuit that negatively feeds back the output of the first filter to the input of the first amplifier, and that sets the steering angular velocity coefficient on the basis of a steering angular velocity which is a speed of the steering angle detected by the steering angle detector, a torque coefficient setting unit that includes a second amplifier that amplifies and outputs an input corresponding to the torque detected by the torque detector, a second filter that performs a high-pass filtering process of removing a predetermined low-frequency component of the output of the second amplifier and outputting the resultant as a torque coefficient, and a second negative feedback circuit that negatively feeds back the output of the second filter to the input of the second amplifier, and that sets the torque coefficient on the basis of the torque detected by the torque detector, and a correction assistance quantity calculating unit that calculates the correction assistance quantity on the basis of the steering angular velocity coefficient and the torque coefficient, wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.
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8. A steering apparatus comprising:
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a steering member that turns turning wheels of a vehicle; an actuator that assists an operation on the steering member; and a steering controller that includes a correction assistance quantity calculating unit that calculates a correction assistance quantity on the basis of a steering angular velocity coefficient determined depending on a steering angular velocity which is the speed of a steering angle of the steering member and a torque coefficient determined depending on a torque acting on a steering shaft unit rotating along with the steering member, a steering angular velocity coefficient setting unit that sets the steering angular velocity coefficient on the basis of the steering angular velocity, that includes a first negative feedback unit, and that sets the steering angular velocity coefficient for the steering angular velocity having the same magnitude to become larger as a feedback quantity of the first negative feedback unit becomes larger, and a torque coefficient setting unit that sets the torque coefficient on the basis of the torque acting on the steering shaft unit rotating along with the steering member, that includes a second negative feedback unit, that sets the torque coefficient for the torque having the same magnitude to become larger as a feedback quantity of the second negative feedback unit becomes larger, and that sets a feedback quantity of the torque coefficient setting unit when the torque acting on the steering shaft unit rotating along with the steering member is in a predetermined high-frequency range to become larger than a feedback quantity of the steering angular velocity coefficient setting unit when the steering angular velocity is in a predetermined high-frequency range, wherein the steering controller controls the actuator on the basis of a basic assistance quantity which is an assistance quantity as a basis and the correction assistance quantity.
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Specification