Motor-driven power steering system for a vehicle

• US 4,757,869 A
• Filed: 03/05/1987
• Issued: 07/19/1988
• Est. Priority Date: 03/19/1986
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kohge, Shinichi, Morishita, Mitsuharu, Hara, Tadayuki, Terauchi, Koji
• Primary Examiner(s): Pekar, John A.
• Application Number:
  US07/022,211
• Time in Patent Office: 502 Days
• Field of Search: 180/79.1, 180/148, 180/142, 74/388 PS, 74/498, 364/424
• US Class Current: 180/446
• CPC Class Codes: B62D 5/046 Controlling the motor
• CPC Class Codes: B62D 5/0478 Clutches

Abstract

A motor-driven power steering system for a vehicle preventing transmission of operating noises of the motor to the interior of the passenger compartment of the vehicle and for suppressing the generation of radio wave noises: a speed sensor for detecting the travelling speed of the vehicle; a torque sensor mounted on a steering shaft for detecting turning force imparted to the steering wheel by an operator, a first pinion operatively connected with the steering shaft and adapted to be driven by the steering wheel through the intermediary of the steering shaft, a rack operatively connected through tie rods with a pair of steerable road wheels and having a first rack tooth portion and a second rack tooth portion formed thereon, a second pinion being in meshing engagement with the second rack tooth portion on the rack, a motor operatively connected with the second pinion for power assisting the steering motion of the rack induced by the operator a first electromagnetic clutch interposed between the motor and the second pinion for transmitting power therebetween substantially in proportion to the intensity of current supplied thereto, a second clutch interposed between the motor and the second pinion for selectively establishing or disconnecting the operative connection between the motor and the second pinion, and a control unit adapted to receive output signals from the speed sensor and the torque sensor for controlling the operations of the motor, the first clutch and the second clutch.

Claims

1. A motor-driven power steering system for a vehicle comprising:

a steering wheel;

a steering shaft fixedly connected with said steering wheel for integral rotation therewith;

a speed sensor connected to detect travelling speed of the vehicle and generating an output signal representative of the detected vehicle speed;

a torque sensor mounted on said steering shaft for detecting operator-induced steering torque resulting from steering force exerted on said steering wheel by an operator and generating an output signal representative of the detected steering torque;

a first pinion operatively connected with said steering shaft and adapted to be driven by said steering wheel through an intermediary of said steering shaft;

a rack operatively connected through tie rods with a pair of steerable road wheels and having a first rack tooth portion and a second rack tooth portion formed thereon, said first rack tooth portion being in meshing engagement with said first pinion;

a second pinion being in meshing engagement with said second rack tooth portion on said rack;

a motor operatively connected through a speed-reduction gear with said second pinion for power assisting a steering motion of said rack induced by the operator through an intermediary of said steering wheel, said steering shaft, said first pinion, and said first rack tooth portion;

a first electromagnetic clutch interposed between said motor and said second pinion for transmitting power therebetween substantially in proportion to a current suplied thereto;

a second clutch interposed between said motor and said second pinion for selectively establishing and disconnecting the operative connection therebetween; and

a control unit adapted to receive output signals from said speed sensor and said torque sensor for controlling the operations of said motor, said first clutch, and said second clutch.

2. A motor-driven power steering system according to claim 1 wherein said first clutch is disposed between said motor and said speed-reduction clutch.

3. A motor-driven power steering system according to claim 2 wherein said second clutch is disposed between said speed-reduction gear and said second pinion.

4. A motor-driven power steering system according to claim 3 wherein said second clutch comprises an electromagnetic switching clutch.

5. A motor-driven power steering system according to claim 1 wherein said first clutch comprises an electromagnetic sliding clutch.

6. A motor-driven power steering system according to claim 5 wherein said electromagnetic sliding clutch comprises a powder clutch.

7. A motor-driven power steering system according to claim 5 wherein said electromagnetic sliding clutch comprises a hysteresis clutch.

8. A motor-driven power steering system according to claim 1 wherein said speed-reduction gear comprises a worm operatively connected through said first clutch with said motor and a worm wheel connected through said second clutch with said second pinion.

9. A motor-driven power steering system according to claim 1 wherein said control unit comprises:

a steering-torque measuring means adapted to receive the output signal from said torque sensor for measuring the operator-induced steering torque;

a steering-torque abrupt-change judging means connected to determine an abrupt change in steering torque on the basis of a steering torque presently measured and a preceding steering torque measured at a preceding time by said steering-torque measuring means;

a memory means for storing an arbitrary number of previously measured steering torques in case of normal changes in steering torque, but replacing the arbitrary number of said previously measured steering torques with said precedingly measured steering torque for storing in case of an abrupt change in steering torque as determined by said steering-torque abrupt-change judging means;

a steering-torque averaging means for calculating an average steering torque from the steering torques stored in said memory means;

a motor-voltage determining means for determining an appropriate voltage to be imposed on said motor on the basis of the steering torque measured presently;

a clutch-current determining means for determining an appropriate clutch current from an average steering torque calculated by said steering-torque averaging means;

a motor-voltage controlling means for controlling the current to be supplied to said first clutch on the basis of an output of said clutch-current determining means; and

a clutch controlling means for switching said second clutch on and off in accordance with the travelling speed of the vehicle.

10. A motor-driven power steering system according to claim 1 wherein said control unit comprises:

a steering-torque measuring means for measuring the operator-induced steering torque on the basis of the output signal of said torque sensor;

a motor-voltage determining means for determining, from a steering torque measured presently by said steering torque measuring means, an appropriate voltage to be imposed on said motor;

a motor-current measuring means for measuring the current supplied to said motor;

a motor current judging means for determining whether the motor current measured by said motorcurrent measuring means is equal to or less than a predetermined level;

a clutch-current determining means for determining an appropriate current to be supplied to said first clutch in such a manner that the clutch current is decreased to zero if said motor-current judging means determines that the motor current measured is greater than the predetermined level, whereas the clutch current it determined by the measured steering torque if it is determined that the motor current is equal to or less than the predetermined level;

a motor-voltage controlling means for controlling the current to be supplied to the first clutch on the basis of an output of said clutch-current determining means; and

a clutch controlling means for switching said second clutch on and off in accordance with the travelling speed of the vehicle.

11. A motor-driven power steering system according to claim 1 wherein said control unit comprises:

a steering-torque measuring means for measuring the steering torque on the basis of an output signal of said torque sensor;

a memory means for storing an arbitrary number of previously measured steering torques;

a steering-direction change judging means adapted to compare a presently measured steering torque with the preceding measured steering torque stored in said memory means for judging whether the steering direction has changed;

a motor-voltage determining means for determining from the presently measured steering torque an appropriate voltage to be imposed on said motor;

a clutch-current determining means for determining an appropriate current to be supplied to said first clutch in such a manner that the clutch current is decreased to zero in a predetermined period of time if said steering-direction change judging means judges that the steering direction has changed, whereas the clutch current is determined on the basis of an average steering torque calculated by said steering-torque averaging means if it is judged that the steering direction remains unchanged;

a motor-voltage controlling means for controlling the current to be supplied to said first clutch on the basis of an output of said clutch-current determining means; and

a clutch controlling means for switching said second clutch on and off in accordance with the travelling speed of the vehicle.

12. A motor-driven power steering system for a vehicle comprising:

a steering wheel;

a steering shaft fixedly connected with said steering wheel for integral rotation therewith;

a vehicle-speed sensor connected to detect travelling speed of the vehicle and generating an output signal representative of the detected vehicle speed;

a torque sensor mounted on said steering shaft for detecting operator-induced steering torque resulting from steering force exerted on said steering wheel by an operator and generating an output signal representative of the detected steering torque;

a steering-speed sensor for detecting the steering speed of said steering wheel and generating an output signal representative of the detected steering speed;

a first pinion operatively connected with said steering shaft and adapted to be driven by said steering wheel through an intermediary of said steering shaft;

a rack operatively connected through tie rods with a pair of steerable road wheels and having a first rack tooth portion and a second rack tooth portion formed thereon, said first rack tooth portion being in meshing engagement with said first pinion;

a second pinion being in meshing engagement with said second rack tooth portion on said rack;

a motor operatively connected through a speed-reduction gear with said second pinion for power assisting the steering motion of said rack induced by the operator through an intermediary of said steering wheel, said steering shaft, said first pinion, and said first rack tooth portion;

a first electromagnetic clutch interposed between said motor and said second pinion for transmitting power therebetween substantially in proportion to a current supplied thereto;

a second clutch interposed between said motor and said second pinion for selectively establishing and disconnecting the operative connection therebetween; and

a control unit adapted to receive output signals from said speed sensor, said torque sensor, and said steering-speed sensor for controlling the operations of said motor, said first clutch, and said second clutch.

13. A motor-driven power steering system according to claim 12 wherein said first clutch is disposed between said motor and said speed-reduction clutch.

14. A motor-driven power steering system according to claim 13 wherein said second clutch is disposed between said speed-reduction gear and said second pinion.

15. A motor-driven power steering system according to claim 14 wherein said second clutch comprises an electromagnetic switching clutch.

16. A motor-driven power steering system according to claim 12 wherein said first clutch comprises an electromagnetic sliding clutch.

17. A motor-driven power steering system according to claim 16 wherein said electromagnetic sliding clutch comprises a powder clutch.

18. A motor-driven power steering system according to claim 16 wherein said electromagnetic sliding clutch comprises a hysteresis clutch.

19. A motor-driven power steering system according to claim 12 wherein said speed-reduction gear comprises a worm operatively connected through said first clutch with said motor and a worm wheel connected through said second clutch with said second pinion.

20. A motor-driven power steering system according to claim 12 wherein said control unit comprises:

a steering-torque measuring means adapted to receive the output signal from said torque sensor for measuring the operator-induced steering torque;

a motor-voltage determining means for determining an appropriate voltage to be imposed on said motor from the steering torque measured by said steering-torque measuring means;

a steering-speed measuring means for measuring the steering speed of said steering wheel on the basis of an output of said steering-speed sensor;

a motor-field-current determining means for determining an appropriate field current of said motor from a steering speed measured by said steering-speed measuring means;

a clutch-current determining means for determining an appropriate current to be supplied to said first clutch on the basis of the measured steering torque value;

a motor-field-current controlling means for controlling the motor field current on the basis of an output of said motor-field-current determining means;

a motor-voltage controlling means for controlling the voltage imposed on said motor on the basis of an output of said motor-voltage determining means;

a clutch-current controlling means for controlling the current supplied to said first clutch on the basis of an output of the clutch-current determining means; and

a clutch controlling means for switching said second clutch on or off in accordance with the travelling speed of the vehicle.

21. A motor-driven power steering system according to claim 12 wherein said control unit comprises:

a steering-torque measuring means adapted to receive an output signal from said torque sensor for measuring the operator-induced steering torque;

a motor-voltage determining means for determining an appropriate voltage to be imposed on said motor from a steering torque measured by said steering-torque measuring means;

a steering-speed measuring means for measuring the steering speed of said steering wheel from an output of said steering-speed sensor;

a clutch-current determining means for determining an appropriate current to be supplied to said first clutch on the basis of an output of said steering-speed measuring means in such a manner that the sliding clutch current is decreased if it is judged that the steering speed measured is greater than a predetermined level, whereas the sliding clutch current is determined by the measured steering torque if it is judged that the steering speed measured is equal to or less than the predetermined level;

a motor-voltage controlling means for controlling the voltage to be imposed on said motor on the basis of an output of said motor-voltage determining means;

a clutch-current controlling means for controlling the current supplied to said first clutch on the basis of an output of said clutch-current determining means; and

a clutch controlling means for switching said first clutch on or off in accordance with the travelling speed of the vehicle.