Power steering device

• US 9,994,252 B2
• Filed: 06/15/2017
• Issued: 06/12/2018
• Est. Priority Date: 03/21/2013
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Steering, Ltd. (Hitachi Automotive Systems (China) Ltd.)
• Inventors: Sasaki, Mitsuo
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US15/623,936
• Publication Number:
  US 20170282969A1
• Time in Patent Office: 362 Days
• CPC Class Codes: B62D 3/12 of rack-and-pinion type
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 5/0481 monitoring the steering system, e.g. failures
• CPC Class Codes: B62D 5/0484 for reaction to failures, e.g. limp home
• CPC Class Codes: B62D 5/0487 detecting motor faults B62D5/0496 takes precedence

Abstract

A power steering apparatus includes: a steering load average value calculating circuit 39 which calculates a steering torque average value Trav which is the average value of steering torque Tr within a predetermined interval of time; and an abnormality detection circuit 40 which compares steering torque average value Trav with a specified steering torque value Trrf and detects the abnormality of the apparatus when steering torque average value Trav is larger than the specified value.

Claims

1. A power steering apparatus comprising:

a steering mechanism formed of an iron-series metallic material and which steers steerable wheels in accordance with a steering operation of a steering wheel;

an electrically driven motor which provides a steering force for the steering mechanism;

a speed reduction mechanism formed of the iron-series metallic material, interposed between the steering mechanism and the electrically driven motor, and which transmits a revolution force of the electrically driven motor to the steering mechanism;

a torque sensor which detects a steering torque generated in the steering mechanism;

a control unit which calculates a motor command current drivingly controlling the electrically driven motor on a basis of the steering torque and outputs the motor command current to the electrically driven motor;

a steering load average value calculating circuit installed in the control unit and which calculates an average value of a steering load corresponding value which corresponds to any one of the steering torque within a predetermined interval of time, the motor command current, and a motor actual current actually flowing through the electrically driven motor; and

an abnormality detection circuit installed in the control unit, which compares the average value of the steering load corresponding value with a specified value stored in the control unit, and detects an abnormality of the apparatus when the average value is larger than the specified value,

wherein the steering mechanism includes a rack bar which axially moves due to a revolution of a steering wheel to steer the steerable wheels and the speed reduction mechanism includes a ball-screw mechanism having;

a rack bar side ball screw groove installed on an outer peripheral side of the rack bar and having a spiral groove shape;

a nut annularly installed to enclose the rack bar and rotatably installed with respect to the rack bar;

a nut side ball screw groove installed on an inner peripheral side of the nut, having a spiral groove shape, and constituting a ball circulation groove together with a steering shaft side ball screw;

a plurality of balls installed within the ball circulation groove; and

a circulation member installed at an outer side of a radial direction of the nut and connecting one end side of the ball groove and the other side thereof in order for the plurality of balls to enable a circulation from the one end side of the ball circulation groove to the other end side, and

a transmission mechanism which transmits the revolution of the electrically driven motor to the nut.

2. The power steering apparatus as claimed in claim 1, wherein the steering load average value calculating circuit calculates the average value of the steering load corresponding value on a basis of the steering load corresponding value when the steering wheel is steering operated.

3. The power steering apparatus as claimed in claim 2, wherein the steering load average value calculating circuit determines a state in which the steering wheel is steering operated on a basis of a steering speed, a yaw moment of a vehicle, or a difference of left and right steerable wheel revolution speeds.

4. The power steering apparatus as claimed in claim 1, wherein the steering load average value calculating circuit stores a newest value of the average value of the steering load corresponding value into a non-volatile memory, when an ignition switch of a vehicle is turned off.

5. The power steering apparatus as claimed in claim 4, wherein the steering load average value calculating circuit calculates the average value of the steering load corresponding value on a basis of an information of the average value of the steering load corresponding value stored in the non-volatile memory and the steering load corresponding value after the ignition switch is turned on, when the ignition switch of the vehicle is turned on.

6. The power steering apparatus as claimed in claim 1, wherein the abnormality detection circuit illuminates an alarm light installed in a vehicle when the abnormality detection circuit detects the abnormality of the apparatus.

7. The power steering apparatus as claimed in claim 6, wherein the control unit outputs the motor command current which has a smaller value than the motor command current when the abnormality of the apparatus is not present, when the abnormality detection circuit detects the abnormality of the apparatus.

8. The power steering apparatus as claimed in claim 7, wherein the control unit calculates the motor command current in a form of a gradual decrease of the motor command current, when the abnormality detection circuit detects the abnormality of the apparatus.

9. The power steering apparatus as claimed in claim 8, wherein the control unit gradually decreases the motor command current in accordance with the steering load corresponding value.

10. The power steering apparatus as claimed in claim 6, wherein the control unit zeroes the motor command current after a gradual decrease of the motor command current.

11. The power steering apparatus as claimed in claim 1, wherein the steering load average value calculating circuit calculates the average value of the steering load corresponding value on a basis of the steering load corresponding value when a steering speed is equal to or higher than a predetermined value.

12. The power steering apparatus as claimed in claim 1, wherein the steering load average value calculating circuit does not use the steering load corresponding value when the steering wheel is bumped in which a steering angle becomes maximum for a calculation of the average value.

13. A power steering apparatus comprising:

a steering mechanism formed of an iron-series metallic material and which steers steerable wheels in accordance with a steering operation of a steering wheel;

an electrically driven motor which provides a steering force for the steering mechanism;

a speed reduction mechanism formed of the iron-series metallic material, interposed between the steering mechanism and the electrically driven motor, and which transmits a revolution force of the electrically driven motor to the steering mechanism;

a torque sensor which detects a steering torque generated in the steering mechanism;

a control unit which calculates a motor command current drivingly controlling the electrically driven motor on a basis of the steering torque and outputs the motor command current to the electrically driven motor; and

an abnormality detection circuit, installed in the control unit, which compares a steering load corresponding value which corresponds to any one of the steering torque within a predetermined interval of time, the motor command current, and a motor actual current actually flowing through the electrically driven motor with a specified value stored in the control unit, and which detects an abnormality of the apparatus when a frequency that the steering load corresponding value exceeds the specified value is larger than a predetermined value,

wherein the steering mechanism includes a rack bar which axially moves due to a revolution of a steering wheel to steer the steerable wheels and the speed reduction mechanism includes a ball-screw mechanism having;

a rack bar side ball screw groove installed on an outer peripheral side of the rack bar and having a spiral groove shape;

a nut annularly installed to enclose the rack bar and rotatably installed with respect to the rack bar;

a nut side ball screw groove installed on an inner peripheral side of the nut, having a spiral groove shape, and constituting a ball circulation groove together with a steering shaft side ball screw;

a plurality of balls installed within the ball circulation groove; and

a circulation member installed at an outer side of a radial direction of the nut and connecting one end side of the ball groove and the other side thereof in order for the plurality of balls to enable a circulation from the one end side of the ball circulation groove to the other end side, and

a transmission mechanism which transmits the revolution of the electrically driven motor to the nut.

14. The power steering apparatus as claimed in claim 13, wherein the abnormality detection circuit compares the steering load corresponding value when the steering wheel is steering operated with the specified value to calculate the frequency.

15. The power steering apparatus as claimed in claim 14, wherein the abnormality detection circuit determines a state in which the steering wheel is steering operated on a basis of a steering speed, a yaw moment of a vehicle, or a difference of left and right steerable wheel revolution speeds.

16. The power steering apparatus as claimed in claim 13, wherein the control unit outputs the motor command current which has a smaller value than the motor command current when the abnormality of the apparatus is not present, when the abnormality detection circuit detects the abnormality of the apparatus.

17. The power steering apparatus as claimed in claim 16, wherein the control unit calculates the motor command current in a form of a gradual decrease of the motor command current, when the abnormality detection circuit detects the abnormality of the apparatus.

18. A power steering apparatus comprising:

a steering mechanism formed of an iron-series metallic material and which steers steerable wheels in accordance with a steering operation of a steering wheel;

an electrically driven motor which provides a steering force for the steering mechanism;

a speed reduction mechanism interposed between the steering mechanism and the electrically driven motor and which transmits a revolution force of the electrically driven motor to the steering mechanism;

a torque sensor which detects a steering torque generated in the steering mechanism;

a control unit which calculates a motor command current drivingly controlling the electrically driven motor on a basis of the steering torque and outputs the motor command current to the electrically driven motor;

a steering load average value calculating circuit installed in the control unit and which calculates an average value of a steering load corresponding value which is any one of the steering torque within a predetermined interval of time, the motor command current, and a motor actual current actually flowing through the electrically driven motor; and

an abnormality detection circuit installed in the control unit, which compares the average value of the steering load corresponding value with a specified value stored in the control unit, and which detects an abnormality of the apparatus when the average value is larger than the specified value,

wherein the steering mechanism includes a rack bar which axially moves due to a revolution of a steering wheel to steer the steerable wheels and the speed reduction mechanism includes a ball-screw mechanism having;

a rack bar side ball screw groove installed on an outer peripheral side of the rack bar and having a spiral groove shape;

a nut annularly installed to enclose the rack bar and rotatably installed with respect to the rack bar;

a nut side ball screw groove installed on an inner peripheral side of the nut, having a spiral groove shape, and constituting a ball circulation groove together with a steering shaft side ball screw;

a plurality of balls installed within the ball circulation groove; and

a circulation member installed at an outer side of a radial direction of the nut and connecting one end side of the ball groove and the other side thereof in order for the plurality of balls to enable a circulation from the one end side of the ball circulation groove to the other end side, and

a transmission mechanism which transmits the revolution of the electrically driven motor to the nut.