Apparatus and method for controlling electric power steering system

• US 9,764,758 B2
• Filed: 07/31/2013
• Issued: 09/19/2017
• Est. Priority Date: 08/03/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Akatsuka, Hisaya, Watanabe, Daiji, Kataoka, Motoaki, Kudo, Yoshio, Suzuki, Yoshiaki
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US14/419,327
• Publication Number:
  US 20150210310A1
• Time in Patent Office: 1,511 Days
• Field of Search: None
• CPC Class Codes: B62D 5/04 electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0472 for damping vibrations
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

An electric power steering system includes a basic assist amount calculation section calculating a basic assist amount for assisting the manipulation of a steering wheel, and an assist compensation amount calculation section calculating an assist compensation amount for correcting the basic assist amount. The system includes an assist amount correction section calculating a corrected assist amount by correcting the basic assist amount based on the assist compensation amount, and a motor drive section driving a motor using the corrected assist amount. The assist compensation amount calculation section uses a reverse input specification that more transmits the signal components of specific frequency in road-surface input torque, to a steering wheel than in the case of using only the basic assist amount, and calculates the assist compensation amount suitable for a vehicle-state value, such as a steering torque, to suppress variation in the transmission characteristics due to variation of the vehicle-state value.

Claims

1. A control apparatus provided to an electric power steering system comprising:

an input shaft connected to a steering wheel of a vehicle and rotated together with the steering wheel, being urged by a steering wheel torque that is an input caused by manipulation of the steering wheel;

a torque detector detecting torque applied to a torsion bar on the basis of a torsion angle of the torsion bar, the torsion bar being provided to a part of a torque transmission path for transmitting rotation of the input shaft to the steering wheel of the vehicle; and

a motor generating an assist steering force for assisting the manipulation of the steering wheel when the steering wheel is steered by the manipulation of the steering wheel,

the apparatus controlling the assist steering force by controlling rotation of the motor, wherein;

the apparatus comprises;

a basic assist amount calculation section calculating a basic assist amount for assisting the manipulation of the steering wheel on the basis of a torque detected by the torque detector;

an assist compensation amount calculation section calculating an assist compensation amount for correcting the basic assist amount calculated by the basic assist amount calculation section;

an assist compensation correction section calculating a corrected assist amount by correcting the basic assist amount calculated by the basic assist amount calculation section on the basis of the assist compensation amount calculated by the assist compensation amount calculation section; and

a motor drive section driving the motor on the basis of the corrected assist amount from the assist amount correction section, and

the assist compensation amount calculation section is configured to;

use at least two kinds of input signals that reflect operations of the electric power steering system to calculate the assist compensation amount so as to meet both of the following specifications;

a forward input specification corresponding to characteristics of transmitting the steering wheel torque to a road surface in the electric power steering system, the characteristics being equal to those of the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount; and

a reverse input specification corresponding to characteristics of transmitting road-surface input torque that is a force received by the steering wheel from a road surface on which the vehicle runs, in the electric power steering system, the characteristics exhibiting more transmission of the road-surface input torque to the steering wheel than in the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount, and

calculate an assist compensation amount suitable for a vehicle-state value that influences the transmission characteristics of the road-surface input torque to suppress frequency alteration at a resonance point in the transmission characteristics, the frequency alteration being attributed to variation of the vehicle state value.

2. The control apparatus according to claim 1, wherein the assist compensation amount calculation section is configured to use, as the vehicle-state value, any one or more of a vehicle speed of the vehicle, a torque detected by the torque detector, and a rotational angular speed of the motor to calculate an assist compensation amount that suppresses frequency alteration at a resonance point in the transmission characteristics of the road-surface input torque.

3. The control apparatus according to claim 1, wherein the assist compensation amount calculation section is configured to calculate a different assist compensation amount depending on whether the steering wheel is being turned or being returned to suppress frequency alteration at a resonance point in the transmission characteristics of the road-surface input torque.

4. The control apparatus according to claim 1, wherein:

the assist compensation amount calculation section comprises;

a first compensation amount calculator designed to calculate an assist compensation amount that meets the forward input specification and the reverse input specification, with a minimum value of the vehicle-state value; and

a second compensation amount calculator designed to calculate an assist compensation amount that meets the forward input specification and the reverse input specification, with a maximum value of the vehicle-state value, and

the control apparatus comprises;

a means calculating a first assist compensation amount using an actual vehicle-state value and the first compensation amount calculator;

a means calculating a second assist compensation amount using an actual vehicle-state value and the second compensation amount calculator; and

a means determining an assist compensation amount with the actual vehicle-state value, by linearly interpolating the first and second compensation amounts using the maximum value, the minimum value and the actual value of the vehicle-state value.

5. The control apparatus according to claim 4, wherein:

the assist compensation amount calculation section comprises;

a means comprising;

a plurality of the first compensation amount calculators that are designed for minimum values of the plurality of the vehicle-state values; and

a plurality of the second compensation amount calculators that are designed for maximum values of the plurality of the vehicle-state values,

the first and second compensation amount calculators being designed using the plurality of vehicle-state values,

the apparatus comprises;

a means for calculating a first assist compensation amount for each of the plurality of vehicle-state values, using the actual vehicle-state value and the first compensation amount calculator corresponding to the vehicle-state value;

a means for calculating a second assist compensation amount for each of the plurality of vehicle-state values, using the actual vehicle-state value and the second compensation amount calculator corresponding to the vehicle-state value; and

a means for determining an assist compensation amount for the actual vehicle-state value, by linearly interpolating the first and second assist compensation amounts corresponding to each of the plurality of vehicle-state values by using the maximum value and the minimum values of the vehicle-state value, and the actual vehicle-state value.

6. The control apparatus according to claim 1, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a brake of the vehicle is in an on-state, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the brake is in an off-state.

7. The control apparatus according to claim 6, wherein the assist compensation amount is configured to calculate the assist compensation amount on the basis that the brake is in an on-state, a vehicle speed is within a predetermined middle- to high-speed range, and an acceleration correlation value that varies in relation to a longitudinal acceleration of the vehicle is within a predetermined range, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the brake is in an off-state.

8. The control apparatus according to claim 1, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a vehicle speed is within a predetermined stationary-state vehicle speed range close to 0 and within a predetermined flutter-causing vehicle speed range, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the vehicle speed is within neither the stationary-state vehicle speed range nor the flutter-causing vehicle speed range.

9. The control apparatus according to claim 1, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a predetermined impact reflected value whose value varies when a large impact is input from a road surface has exceeded a predetermined threshold, to thereby switch the transmission characteristics of the road-surface input torque for a predetermined duration of time, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when a derivative value of the torque is smaller than the threshold.

10. The control apparatus according to claim 6, wherein:

the apparatus comprises a damping controller calculating a damping compensation amount for correcting the basic assist amount to a side on which the rotation of the motor is suppressed, as a rotational speed of the motor is higher; and

the damping controller is configured to calculate the damping compensation amount having a larger value, when the assist compensation amount calculation section has calculated the assist compensation amount that switches the transmission characteristics of the road-surface input torque, to characteristics that suppress transmission of the road-surface input torque to the steering wheel.

13. The control apparatus according to claim 2, wherein the assist compensation amount calculation section is configured to calculate a different assist compensation amount depending on whether the steering wheel is being turned or being returned to suppress frequency alteration at a resonance point in the transmission characteristics of the road-surface input torque.

14. The control apparatus according to claim 2, wherein:

the assist compensation amount calculation section comprises;

a first compensation amount calculator designed to calculate an assist compensation amount that meets the forward input specification and the reverse input specification, with a minimum value of the vehicle-state value; and

a second compensation amount calculator designed to calculate an assist compensation amount that meets the forward input specification and the reverse input specification, with a maximum value of the vehicle-state value, and

the control apparatus comprises;

a means calculating a first assist compensation amount using an actual vehicle-state value and the first compensation amount calculator;

a means calculating a second assist compensation amount using an actual vehicle-state value and the second compensation amount calculator; and

a means determining an assist compensation amount with the actual vehicle-state value, by linearly interpolating the first and second compensation amounts using the maximum value, the minimum value and the actual value of the vehicle-state value.

15. The control apparatus according to claim 14, wherein:

the assist compensation amount calculation section comprises;

a means comprising;

a plurality of the first compensation amount calculators that are designed for minimum values of the plurality of the vehicle-state values; and

a plurality of the second compensation amount calculators that are designed for maximum values of the plurality of the vehicle-state values,

the first and second compensation amount calculators being designed using the plurality of vehicle-state values,

the apparatus comprises;

a means calculating a first assist compensation amount for each of the plurality of vehicle-state values, using the actual vehicle-state value and the first compensation amount calculator corresponding to the vehicle-state value;

a means calculating a second assist compensation amount for each of the plurality of vehicle-state values, using the actual vehicle-state value and the second compensation amount calculator corresponding to the vehicle-state value; and

a means determining an assist compensation amount for the actual vehicle-state value, by linearly interpolating the first and second assist compensation amounts corresponding to each of the plurality of vehicle-state values by using the maximum value and the minimum values of the vehicle-state value, and the actual vehicle-state value.

16. The control apparatus according to claim 2, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a brake of the vehicle is in an on-state, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the brake is in an off-state.

17. The control apparatus according to claim 16, wherein the assist compensation amount is configured to calculate the assist compensation amount on the basis that the brake is in an on-state, a vehicle speed is within a predetermined middle- to high-speed range, and an acceleration correlation value that varies in relation to a longitudinal acceleration of the vehicle is within a predetermined range, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the brake is in an off-state.

18. The control apparatus according to claim 2, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a vehicle speed is within a predetermined stationary-state vehicle speed range close to 0 and within a predetermined flutter-causing vehicle speed range, to thereby switch the transmission characteristics of the road-surface input torque, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when the vehicle speed is within neither the stationary-state vehicle speed range nor the flutter-causing vehicle speed range.

19. The control apparatus according to claim 2, wherein the assist compensation amount calculation section is configured to calculate the assist compensation amount on the basis that a predetermined impact reflected value whose value varies when a large impact is input from a road surface has exceeded a predetermined threshold, to thereby switch the transmission characteristics of the road-surface input torque for a predetermined duration of time, to characteristics that more suppress transmission of the road-surface input torque to the steering wheel than when a derivative value of the torque is smaller than the threshold.

20. The control apparatus according to claim 16, wherein:

the apparatus comprises a damping controller calculating a damping compensation amount for correcting the basic assist amount to a side on which the rotation of the motor is suppressed, as a rotational speed of the motor is higher; and

the damping controller is configured to calculate the damping compensation amount having a larger value, when the assist compensation amount calculation section has calculated the assist compensation amount that switches the transmission characteristics of the road-surface input torque, to characteristics that suppress transmission of the road-surface input torque to the steering wheel.

11. A control method provided to an electric power steering system comprising:

an input shaft connected to a steering wheel of a vehicle and rotated together with the steering wheel, being urged by a steering wheel torque that is an input caused by manipulation of the steering wheel;

a torque detector detecting torque applied to a torsion bar on the basis of a torsion angle of the torsion bar, the torsion bar being provided to a part of a torque transmission path for transmitting rotation of the input shaft to the steering wheel of the vehicle; and

a motor generating an assist steering force for assisting the manipulation of the steering wheel when the steering wheel is steered by the manipulation of the steering wheel, and

the method controlling the assist steering force by controlling rotation of the motor, wherein;

the method comprises;

a basic assist amount calculation step of calculating a basic assist amount for assisting the manipulation of the steering wheel on the basis of a torque detected by the torque detector;

a compensation amount calculation step of calculating an assist compensation amount for correcting the calculated basic assist amount;

a correction step of calculating a corrected assist amount by correcting the calculated basic assist amount on the basis of the calculated assist compensation amount; and

a motor drive step of driving the motor on the basis of the corrected assist amount, and

the assist compensation amount calculation step;

uses at least two kinds of input signals that reflect operations of the elect power steering system to calculate the assist compensation amount so as to meet the following specifications;

a forward input specification corresponding to characteristics of transmitting the steering wheel torque to a road surface in the electric power steering system, the characteristics being equal to those of the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount; and

a reverse input specification corresponding to characteristics transmitting road-surface input torque that is a force received by the steering wheel from a road surface on which the vehicle runs, in the electric power steering system the characteristics exhibiting more transmission of the road-surface input torque to the steering wheel than in the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount, and

calculates an assist compensation amount suitable for a vehicle-state value that influences the transmission characteristics of the road-surface input torque to suppress frequency alteration at a resonance point in the transmission characteristics, the frequency alteration being caused by variation of the vehicle-state value.

12. An electric power steering system comprising:

an input shaft connected to a steering wheel of a vehicle and rotated together with the steering wheel, being urged by a steering wheel torque that is an input caused by manipulation of the steering wheel;

a torque detector detecting torque applied to a torsion bar on the basis of a torsion angle of the torsion bar, the torsion bar being provided to a part of a torque transmission path for transmitting rotation of the input shaft to the steering wheel of the vehicle;

a motor generating an assist steering force for assisting the manipulation of the steering wheel by rotation when the steering wheel is steered by the manipulation of the steering wheel, and controlling the assist steering force through control of the rotation;

a basic assist amount calculation section calculating a basic assist amount for assisting the manipulation of the steering wheel on the basis of a torque detected by the torque detector;

an assist compensation amount calculation section calculating an assist compensation amount for correcting the basic assist amount calculated by the basic assist amount calculation section;

an assist amount correction section calculating a corrected assist amount by correcting the basic assist amount calculated by the basic assist amount calculation section on the basis of the assist compensation amount calculated by the assist compensation amount calculation section;

a motor drive section driving the motor on the basis of the corrected assist amount from the assist amount correction section, wherein,

the assist compensation amount calculation section is configured to;

use at least two kinds of input signals that reflect operations of the electric power steering system to calculate the assist compensation amount so as to meet the following specifications;

a forward input specification corresponding to characteristics of transmitting the steering wheel torque to a road surface in the electric power steering system, the characteristics being equal to those of the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount; and

a reverse input specification corresponding to characteristics of transmitting road-surface input torque that is a force received by the steering wheel from a road surface on which the vehicle runs, in the electric power steering system, the characteristics exhibiting more transmission of the road-surface input torque to the steering wheel than in the case where the motor is driven with no correction of the basic assist amount by the assist compensation amount, and

calculate an assist compensation amount suitable for a vehicle-state value that influences the transmission characteristics of the road-surface input torque to suppress frequency alteration at a resonance point in the transmission characteristics, the frequency alteration being attributed to variation of the vehicle-state value.