Power-assisted steering system

• US 5,072,804 A
• Filed: 09/04/1990
• Issued: 12/17/1991
• Est. Priority Date: 09/02/1989
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Konigorski, Ulrich-Eugen, Bischof, Hubert, Kirberg, Uwe
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): Kagen, Alan M.
• Application Number:
  US07/577,276
• Time in Patent Office: 469 Days
• Field of Search: 180/79.1, 180/142, 180/141, 180/143
• US Class Current: 180/422
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Abstract

A power-assisted steering system for a vehicle such as an automobile or truck and having an electro-mechanical servo drive. The servo drive directs the wheels to be steered which are journalled on a wheel carrier assembly and coacts with a steering wheel of the vehicle. The steering system includes a controller to which a steering wheel torque and a steering torque are supplied for forming a control difference with the steering wheel torque being generated by the driver when steering. The steering torque is the actuating torque occurring between the servo drive and the wheel carrier and the forces developed on the steering wheel are controlled to pregiven values while considering the mechanical reaction.

Claims

1. A power-assisted steering system for a motor vehicle such as an automobile and truck for travel over a roadway, the vehicle including a wheel carrier assembly having wheels rotatably journalled thereon and a steering wheel assembly having a steering wheel on which forces act and to which a driver of the vehicle applies a steering wheel torque (m_LR) when manipulating the steering wheel assembly for steering the vehicle, the wheels being subjected to mechanical reaction from the roadway travelled on by the vehicle, the power-assisted steering system comprising:

a servo drive operatively connected to said wheel carrier assembly for articulating said wheels whereby an actuating torque (m_Lenk) is developed between said servo drive and said wheel carrier assembly;

steering wheel torque supply means for supplying a first signal indicative of the steering wheel torque (m_LR);

actuating torque (m_Lenk) supply means for supplying a second signal indicative of said actuating torque (m_Lenk); and

,

controller means receiving said first and second signals to form a control difference (r_d) and for controlling said forces acting on said steering wheel to predetermined values while considering the mechanical reaction from the roadway.

2. The power-assisted steering system of claim 1, wherein the values for the steering wheel torque (m_LR) are influenced in dependence upon road and driving conditions by means of a set of characteristic curves.

3. The power-assisted steering system of claim 1, wherein the values of the steering wheel torque (m_LR) are influenced in dependence upon vehicle and road conditions by means of an algorithm of an evaluating circuit.

4. The power-assisted steering system of claim 1, wherein said steering wheel torque (m_LR) defines an actual value for said controller means and said actuating torque (m_Lenk) defines a desired value for said controller means.

5. The power-assisted steering system of claim 1, wherein the actuating torque (m_Lenk) defines an actual value and the steering wheel torque (m_LR) defines a desired value for said controller means for a self-acting return movement of the wheel carrier assembly.

6. The power-assisted steering system of claim 1, wherein the vehicle travels at a road speed (V_F) along the roadway;

and, an evaluation circuit is connected upstream of said controller means and said evaluation circuit being influenced by the road speed (V_F) of the vehicle.

7. The power-assisted steering system of claim 1, further comprising a dynamic controller connected in parallel to said controller means;

said first and second signals being applied to said dynamic controller as respective input variables.

8. The power-assisted steering system of claim 1, said servo drive including a servo motor having a moment of inertia and said system further comprising a secondary servo motor speed controller for eliminating the moment of inertia of the servo motor.

9. The power-assisted steering system of claim 8, further comprising a linearization circuit connected downstream of said secondary servo motor speed controller.

10. The power-assisted steering system of claim 9, further comprising an actuator for driving said servo motor;

and, said actuator including a current control loop.

11. The power-assisted steering system of claim 1, said servo drive being hydraulic.

12. The power-assisted steering system of claim 1, said servo drive being electro-mechanical.

13. A power-assisted steering system for a motor vehicle such as an automobile and truck for travel over a roadway, the vehicle including a wheel carrier assembly having wheels rotatably journalled thereon and a steering wheel assembly having a steering wheel on which forces act and to which a driver of the vehicle applies a steering wheel torque (m_LR) when manipulating the steering wheel assembly for steering the vehicle, the wheels being subjected to mechanical reaction from the roadway travelled on by the vehicle, the power-assisted steering system comprising:

a servo drive operatively connected to said wheel carrier assembly for articulating said wheels whereby an actuating torque (m_Lenk) is developed between said servo drive and said wheel carrier assembly;

steering wheel torque supply means for supplying a first signal indicative of the steering wheel torque (m_LR);

actuating torque (m_Lenk) supply means for supplying a second signal indicative of said actuating torque (m_Lenk);

controller means receiving said first and second signals to form a control difference (r_d) and for controlling said forces acting on said steering wheel to predetermined values while considering the mechanical reaction from the roadway;

a summing point connected to the input of said controller means;

an evaluation circuit connected to said summing point; and

,

said second signal being applied as an input to said evaluation circuit and said evaluation circuit being configured to supply a characteristic torque as an output variable to said summing point to form said control difference (r_d).

14. The power-assisted steering system of claim 13, further comprising damping circuit means for supplying a damping torque (m_d) to said summing point for influencing said control difference (r_d).

15. The power-assisted steering system of claim 14, wherein at least one of the following are applied to said damping circuit means for influencing said damping torque (m_d);

said actuating torque (m_Lenk), said steering velocity (_L) and said road speed (_F).