Motor-driven servo steering system

• US 5,205,371 A
• Filed: 08/26/1991
• Issued: 04/27/1993
• Est. Priority Date: 10/04/1990
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Karnopp, Dean
• Primary Examiner(s): HILL, MITCHELL
• Application Number:
  US07/749,876
• Time in Patent Office: 610 Days
• Field of Search: 180/79.1, 180/133, 364/424.05
• US Class Current: 180/444
• 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

Abstract

The present invention is a motor-driven servo steering system for a motor vehicle having an actuator for superimposing steering intervention on the steering wheel power applied by the driver. Power provided by a power supply, for example an electric motor, is superimposed on the steering wheel power applied by the driver and thereby aids and boosts the steering wheel power. In addition to or instead of the boosting effect, the steering systems of the vehicle can be acted upon through steering signals that increase the road safety and/or the travel comfort. Because the system is responsive to steering wheel velocity, the system has a high inherent safety, where in case of power supply failure the driver has a direct mechanical access to the steering systems, without increasing the steering wheel torque required to be applied by the driver.

Claims

1. Motor-driven servo steering system for a motor vehicle, said steering system comprising:

an actuator for superimposed steering intervention, said actuator including first means for transmitting first power by means of a first input shaft, with said first power having first torque and first angular velocity;

second means for transmitting second power by a second input shaft, with said second power having second torque and second angular velocity; and

third means for additively combining said first power and said second power to provide third power to an output shaft, said third power having third torque and third angular velocity, and said third power substantially equalling the sum of said first power and said second power disregarding frictional losses;

a steering system for the vehicle, said steering system being operably connected to said output shaft of said actuator;

a steering wheel for transmitting steering wheel power to said first input shaft of said actuator, said steering wheel power including steering wheel torque and steering wheel angular velocity;

an electric motor for providing output power to said second input shaft of said actuator, said electric motor controlled by a controller, said output power having output torque and output angular velocity;

means for monitoring said steering wheel angular velocity and providing angular velocity signals when said steering wheel is actuated by the driver; and

means for transmitting said angular velocity signals to said controller.

2. The motor-driven servo steering system of claim 1 further comprising means for sensing the road stability of the vehicle and transmitting signals representing the sensed road stability to said controller.

3. The motor-driven servo steering system of claim 2 wherein said steering wheel power is boosted by said output power of said electric motor, said output power of said electric motor provided according to said signals representing the sensed road stability, with one condition sensed by said sensing means being the vehicle speed.

4. The motor-driven servo steering system of claim 2 wherein said actuator superimposes said steering wheel power on said output power of said electric motor whereby rolling or pitching motions of the vehicle monitored by said sensing means are minimized to thereby improve road stability and travel comfort.

5. The motor-driven servo steering system of claim 3 wherein said output power of said electric motor having a boosting component responsive to said steering wheel power and a stabilizing component responsive to said signals representative of the sensed road stability, and said actuator additively superimposes said steering wheel power and said boosting component on said stabilizing component whereby rolling or pitching motions of the vehicle monitored by said sensing means are minimized to thereby improve road safety and travel comfort.

6. The motor-driven servo steering system of claim 1 wherein said actuator superimposes said steering wheel power and said output power of said electric motor on said first and second input shafts by additively superimposing said steering wheel angular velocity and said output angular velocity on said third angular velocity of said actuator according to the equation:

space="preserve" listing-type="equation">w3=g13·

w1+g23·

w2,

with w3 representing said third angular velocity, g13 representing the transmission ratio of said first transmitting means, w1 representing said steering wheel angular velocity, g23 representing the transmission ratio of said second transmitting means, and w2 representing said output angular velocity, and said actuator also operating according to the equations;

space="preserve" listing-type="equation">M1=g13·

M3 and M2=g23·

M3,

with M1 representing said steering wheel torque, M2 representing said output torque, and M3 representing said third torque, said actuator substantially operating according to said equations disregarding frictional losses.

7. The motor-driven servo steering system of claim 2 wherein said output angular velocity of said electric motor is provided according to the equation:

space="preserve" listing-type="equation">w2=α

·

w1,

with w2 representing said output angular velocity, α

representing a value dependent on said signals representative of the sensed road stability including signals representative of the vehicle speed, and w1 representing said steering wheel angular velocity which is determined by said controller according to said angular velocity signals.

8. The motor-driven servo steering system of claim 4 wherein said output angular velocity of said electric motor is provided according to the equation:

space="preserve" listing-type="equation"> w2= w2'"'"'

with w2 representing said output angular velocity and w2'"'"' representing a value dependent on said signals representative of the sensed road stability of the vehicle.

9. The motor-driven servo steering system of claim 5 wherein said output angular velocity of said electric motor is provided according to the equation:

space="preserve" listing-type="equation">w2=α

·

w1+w2'"'"'

with w2 representing said output angular velocity, α

representing a value dependent on said signals representative of the sensed road stability including signals representative of the vehicle speed, w1 representing said steering wheel angular velocity which is determined by said controller according to said angular velocity signals, and w2'"'"' representing a value dependent on said signals representative of the sensed road stability of the vehicle.

10. The motor-driven servo steering system of claim 1 wherein said actuator includes at least one planetary gear.

11. The motor-driven servo steering system of claim 1 wherein each of said first and second transmitting means includes a sun wheel, a ring gear, and a plurality of planet wheels disposed between said sun wheel and said ring gear, with said first input shaft being connected to an axle of said sun wheel of said first transmitting means, said output shaft being connected to an axle of said sun wheel of said second transmitting means, said second input shaft engaging from outside of one of said first and second transmitting means, through a worm gear, said ring gear of said one transmitting means with said ring gear of said other transmitting means being held stationary, and each of said planet wheels including an axle and said axles being connected.

12. The motor-driven servo steering system of claim 1 wherein said actuator includes a planetary gear having a sun wheel, a ring gear, and a plurality of planet wheels disposed between said sun wheel and said ring gear, each of said planet wheels having an axle, said first input shaft being connected to an axle of said sun wheel, said output shaft being connected with said planet wheel axles, and said second input shaft engaging, through a worm gear, said ring gear of said planetary gear from outside said planetary gear.

13. The motor-driven servo steering system of claim 12 wherein said second input shaft engages said ring gear from outside said planetary gear by means of a nonreversible worm gear in said actuator.

14. The motor-driven servo steering system of claim 1 wherein said steering system operates on the front wheels of the vehicle.

15. A motor-driven servo steering system for a motor vehicle, said steering system comprising:

an actuator including a first input shaft, a second input shaft, and an output shaft;

a steering system operably connected with said output shaft;

a steering wheel operably connected with said first input shaft;

an electric motor having a controller, said electric motor operably connected with said second input shaft;

means for monitoring the angular velocity of said steering wheel and providing steering wheel angular velocity signals when said steering wheel is actuated by the vehicle driver; and

means for transmitting said angular velocity signals to said controller;

said controller responsive to said angular velocity signals and operating said electric motor to provide power to said second input shaft, the amount of the power provided to said second input shaft depending on said angular velocity signals whereby said electric motor may aid said steering wheel independently of said first input shaft so that if said electric motor is inoperative, said steering wheel is still operatively connected to said steering system.