Steering apparatus for vehicle
First Claim
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1. A steering apparatus for vehicle, comprising:
- a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a steering angle detector for detecting the steering angle of said steering wheel;
a calculator for calculating a steering torque applied to said steering wheel based on the steering angle detected by said steering angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator.
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Abstract
The invention provides a linkless steering apparatus for vehicle in which a steering mechanism and steering wheel are not mechanically connected. The steering apparatus drives a steering motor of the steering mechanism in accordance with a steering torque so as to increase or decrease a steering angle. The steering torque for this purpose is calculated based on results obtained by detecting a rotational angle of an electric motor (a reaction-force motor) connected to a rotational shaft of the steering wheel and an electric current flowing to the electric motor, a moment of inertia of the steering wheel, and a moment of inertia of the electric motor. Therefore, it is possible to avoid use of a torque sensor which requires a large space for installation thereof and high cost.
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Citations
16 Claims
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1. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a steering angle detector for detecting the steering angle of said steering wheel;
a calculator for calculating a steering torque applied to said steering wheel based on the steering angle detected by said steering angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator. - View Dependent Claims (2, 3)
a current detector for detecting an electric current flowing through said electric motor, wherein said calculator calculates the steering torque based on the electric current detected by said current detector, the steering angle detected by said steering angle detector, the moment of inertia of said steering wheel, and the moment of inertia of said electric motor.
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3. The steering apparatus for vehicle according to claim 1, wherein said electric motor is a reaction-force motor for exerting force onto said steering wheel in a direction opposite to the steering direction of said steering wheel.
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4. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a steering angle detector for detecting the steering angle of said steering wheel;
a calculator for calculating a steering torque applied to said steering wheel based on the steering angle detected by said steering angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator, wherein said calculator includes;
a steering angular acceleration calculator for calculating a steering angular acceleration based on the steering angle;
an adder for adding the moment of inertia of said steering wheel and the moment of inertia of said electric motor; and
a multiplier for multiplying a calculated result of said steering angular acceleration calculator and an added result of said adder;
wherein said calculator calculates the steering torque based on a multiplied results of said multiplier. - View Dependent Claims (5)
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6. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a steering angle detector for detecting the steering angle of said steering wheel;
a calculator for calculating a steering torque applied to said steering wheel based on the steering angle detected by said steering angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator a current detector for detecting an electric current flowing through said electric motor, wherein said calculator calculates the steering torque based on the electric current detected by said current detector, the steering angle detected by said steering angle detector, the moment of inertia of said steering wheel, and the moment of inertia of said electric motor, wherein said calculator includes;
a steering angular acceleration calculator for calculating a steering angular acceleration based on the steering angle;
a first adder for adding the moment of inertia of said steering wheel and the moment of inertia of said electric motor;
a multiplier for multiplying a calculated result of said steering angular acceleration calculator and an added result of said first adder; and
a second adder for adding a value based on the current and a multiplied result of said multiplier, wherein said calculator calculates the steering torque based on an added result of said second adder.
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7. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a steering angle detector for detecting the steering angle of said steering wheel;
a calculator for calculating a steering torque applied to said steering wheel based on the steering angle detected by said steering angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator a current detector for detecting an electric current flowing through said electric motor, wherein said calculator calculates the steering torque based on the electric current detected by said current detector, the steering angle detected by said steering angle detector, the moment of inertia of said steering wheel, and the moment of inertia of said electric motor, wherein said electric motor is a reaction-force motor for exerting a force onto said steering wheel in a direction opposite to the steering direction of said steering wheel.
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8. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
an steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a rotational angle detector for detecting a rotational angle of said electric motor;
a calculator for calculating a steering torque applied to said steering wheel based on the rotational angle detected by said rotational angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator.
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9. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
an steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a rotational angle detector for detecting a rotational angle of said electric motor;
a calculator for calculating a steering torque applied to said steering wheel based on the rotational angle detected by said rotational angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator;
a current detector for detecting an electric current flowing through said electric motor, wherein said calculator calculates the steering torque based on the electric current detected by said current detector, the rotational angle detected by said rotational angle detector, the moment of inertia of said steering wheel, and the moment of inertia of said electric motor. - View Dependent Claims (10, 11)
a rotational angular acceleration calculator for calculating a rotational angular acceleration based on the rotational angle;
a first adder for adding the moment of inertia of said steering wheel and the moment of inertia of said electric motor;
a multiplier for multiplying a calculated result of said rotational angular acceleration calculator and an added result of said first adder; and
a second adder for adding a value based on the current and a multiplied result of said multiplier, wherein said calculator calculates the steering torque based on an added result of said second adder.
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11. The steering apparatus for vehicle according to claim 9, wherein said electric motor is a reaction-force motor for exerting a force onto said steering wheel in a direction opposite to the steering direction of said steering wheel.
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12. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
an steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a rotational angle detector for detecting a rotational angle of said electric motor;
a calculator for calculating a steering torque applied to said steering wheel based on the rotational angle detected by said rotational angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator;
wherein said calculator includes;
a steering angular acceleration calculator for calculating a rotational angular acceleration based on the rotational angle;
an adder for adding the moment of inertia of said steering wheel and the moment of inertia of said electric motor; and
a multiplier for multiplying a calculated result of said rotational angular acceleration calculator and an added result of said adder;
wherein said calculator calculates said steering torque based on a multiplied result of said multiplier. - View Dependent Claims (13)
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14. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
an steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a rotational angle detector for detecting a rotational angle of said electric motor;
a calculator for calculating a steering torque applied to said steering wheel based on the rotational angle detected by said rotational angle detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator;
wherein said electric motor is reaction-force motor for exerting a force onto said steering wheel in a direction opposite to the steering direction of said steering wheel.
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15. A steering apparatus for vehicle, comprising:
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a steering mechanism for changing a direction of a tire wheel;
an actuator for actuating said steering mechanism;
a steering wheel mechanically unconnected to said steering mechanism;
an electric motor connected to a rotational shaft of said steering wheel;
a counter voltage detector for detecting a counter voltage of said electric motor;
a calculator for calculating a steering torque applied to said steering wheel based on the counter voltage detected by said counter voltage detector, a moment of inertia of said steering wheel, and a moment of inertia of said electric motor; and
a controller for driving and controlling said actuator based on the steering torque calculated by said calculator. - View Dependent Claims (16)
an adder for adding the moment of inertia of said steering wheel and the moment of inertia of said electric motor; and
a multiplier for multiplying said counter voltage and an added result of said adder;
wherein said calculator calculates the steering torque based on a multiplied result of said multiplier.
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Specification
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Current AssigneeKoyo Seiko Co., Ltd. (Toyota Motor Corporation)
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Original AssigneeKoyo Seiko Co., Ltd. (Toyota Motor Corporation)
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InventorsKanda, Koji
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Primary Examiner(s)Cuchlinski, Jr., William A.
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Assistant Examiner(s)To, Tuan C
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Application NumberUS09/545,666Time in Patent Office767 DaysField of Search701/41, 701/42, 701/43, 180/402, 180/403, 180/443, 180/445, 180/446, 180/233, 180/421, 180/422, 180/444, 180/404, 475/204, 475/231, 318/638US Class Current701/41CPC Class CodesB62D 5/006 power actuatedB62D 6/001 the torque NOT being among ...B62D 6/008 Control of feed-back to the...B62D 6/10 characterised by means for ...
