KR100992764B1 - Control Method of Electric Steering System Using SW System - Google Patents
Control Method of Electric Steering System Using SW System Download PDFInfo
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- KR100992764B1 KR100992764B1 KR1020040102942A KR20040102942A KR100992764B1 KR 100992764 B1 KR100992764 B1 KR 100992764B1 KR 1020040102942 A KR1020040102942 A KR 1020040102942A KR 20040102942 A KR20040102942 A KR 20040102942A KR 100992764 B1 KR100992764 B1 KR 100992764B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/166—Means changing the transfer ratio between steering wheel and steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
- B62D6/005—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis treating sensor outputs to obtain the actual yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/84—Rear wheel steering; All wheel steerings
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- Mathematical Physics (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
본 발명은 SBW 시스템을 이용한 전동 조향 장치의 제어 방법에 관한 것으로서, 조향반력모터를 포함하는 스티어링 컬럼과, 조타모터를 포함하는 스티어링 기어가 기계적으로 분리되는 동시에 전기적인 선으로 대체 구성되어, 각각 조형반력시스템 제어로직과 조타시스템 제어로직에 의하여 작동되도록 하는 SBW 시스템에 있어서, G센서의 감지에 의하여 조향기어비를 산출하고, 요율센서에 의하여 요율을 측정 연산하는 단계를 통하여 조향기어비의 가변제어는 물론 전륜조향각을 이용한 요모멘트 제어를 수행하는 AFS 제어로직을 부가함으로써, 조타 제어 작동이 보다 능동적으로 이루어질 수 있도록 한 SBW 시스템을 이용한 전동 조향 장치의 제어 방법을 제공하고자 한 것이다.
The present invention relates to a control method of an electric steering apparatus using an SBW system, wherein a steering column including a steering reaction motor and a steering gear including a steering motor are mechanically separated and replaced by electrical wires, respectively. In the SBW system which is operated by the reaction system control logic and the steering system control logic, the steering gear ratio is calculated by sensing the G sensor and the yaw rate is measured and calculated by the yaw rate sensor. It is an object of the present invention to provide a control method of an electric steering apparatus using an SBW system that enables a steering control operation to be more actively by adding an AFS control logic that performs yaw moment control using a front wheel steering angle.
SBW 시스템, AFS, 전동 조향 장치, 조향기어비, G센서, 요율센서SBW system, AFS, electric steering system, steering gear ratio, G sensor, rate sensor
Description
도 1은 본 발명에 따른 SBW 시스템을 이용한 전동 조향 장치의 제어 방법을 위한 시스템 구성도,1 is a system configuration diagram for a control method of an electric steering apparatus using an SBW system according to the present invention;
도 2는 본 발명에 따른 SBW 시스템을 이용한 전동 조향 장치의 제어 방법을 위한 제어로직 블럭선도,2 is a control logic block diagram for a control method of an electric steering apparatus using an SBW system according to the present invention;
도 3은 본 발명에 따른 SBW 시스템을 이용한 전동 조향 장치의 제어 방법에 적용되는 조향기어비 맵.
Figure 3 is a steering gear ratio map applied to the control method of the electric steering apparatus using the SBW system according to the present invention.
본 발명은 SBW 시스템을 이용한 전동 조향 장치의 제어 방법에 관한 것으로서, 더욱 상세하게는 요율 센서 및 G센서를 SBW시스템용 전자제어유니트에 추가로 연결하여 AFS(Active Front Steer) 제어 로직으로서 조향 기어비를 가변 제어할 수 있고, 요모멘트 제어를 할 수 있도록 한 SBW 시스템을 이용한 전동 조향 장치의 제 어 방법에 관한 것이다.The present invention relates to a control method of an electric steering apparatus using an SBW system, and more particularly, by connecting a yaw rate sensor and a G sensor to an electronic control unit for an SBW system to control steering gear ratios as an AFS (Active Front Steer) control logic. The present invention relates to a control method of an electric steering apparatus using an SBW system that can be controlled in a variable manner and allows yaw moment control.
최근에 자동차 기술의 발달과 더불어 차량의 각종 장치들의 기계적 결합 관계들이 전기전자식 연결로 대체되는 연구가 진행되고 있으며, 일부는 상용화 단계에 있다.Recently, with the development of automobile technology, studies are being conducted in which mechanical coupling relationships of various devices of a vehicle are replaced by an electric and electronic connection, and some are in the commercialization stage.
그 중에서도 차량의 조향 시스템에도 다양한 액튜에이터들이 채택되어, 파워스티어링 장치 등 운전자의 조향을 보다 편리하게 도와주는 장치들이 개발되고 있다.Among them, various actuators are adopted in the steering system of the vehicle, and devices for helping the driver's steering, such as a power steering device, are more conveniently developed.
통상 AFS(능동 전륜 조타: Active Front Steer) 제어시스템은 스티어링 컬럼과 스티어링 기어가 기계적으로 연결된 조향장치에서 조향 기어비의 가변 제어만을수행하고 있다.AFS (Active Front Steer) control systems typically perform only variable control of the steering gear ratio in steering systems where the steering column and the steering gear are mechanically connected.
이러한 기존의 AFS 제어시스템은 조향기어비를 가변으로 하는 제어는 가능하나, 능동(Active)적으로 전륜 조타각을 제어하는데 한계가 있고, 특히 스티어링 컬럼과 스티어링 기어가 기계적으로 결합된 기계식 조향장치에서 AFS 제어시스템에 의하여 조타시스템이 작동하게 되면, 운전자의 핸들조작과 간섭을 일으키게 되는 문제점이 있다.The conventional AFS control system can control the steering gear ratio to be variable, but has a limitation in actively controlling the front wheel steering angle, especially in a mechanical steering system in which a steering column and a steering gear are mechanically coupled. When the steering system is operated by the control system, there is a problem that causes interference with the steering wheel operation of the driver.
즉, AFS 제어시스템에 의한 조타 제어 작동과 운전자의 핸들조작에 의한 조타시 서로 간섭을 일으키게 되어, 운전자 입장에서 핸들 조작감 불량 등의 위화감을 느끼게 되는 문제점이 있다.
That is, when the steering control operation by the AFS control system and the steering by the steering wheel operation of the driver cause interference with each other, there is a problem that the driver feels a sense of discomfort, such as a poor handle operation feeling.
본 발명은 상기와 같은 문제점을 감안하여 안출한 것으로서, 조향반력모터를 포함하는 스티어링 컬럼과, 조타모터를 포함하는 스티어링 기어가 기계적으로 분리되는 동시에 전기적인 선으로 대체 구성되어, 각각 조형반력시스템 제어로직과 조타시스템 제어로직에 의하여 작동되도록 하는 SBW 시스템에 있어서, G센서의 감지에 의하여 조향기어비를 산출하고, 요율센서에 의하여 요율을 측정 연산하는 단계를 통하여 조향기어비의 가변제어는 물론 전륜조향각을 이용한 요모멘트 제어를 수행하는 AFS 제어로직을 부가함으로써, 조타 제어 작동이 보다 능동적으로 이루어질 수 있도록 한 SBW 시스템을 이용한 전동 조향 장치의 제어 방법을 제공하는데 그 목적이 있다.
The present invention has been made in view of the above problems, the steering column including the steering reaction motor and the steering gear including the steering motor is mechanically separated and replaced by an electric line, respectively, the molding reaction system control In the SBW system, which is operated by logic and steering system control logic, the steering gear ratio is calculated by sensing the G sensor, and the yaw rate is measured and calculated by the yaw rate sensor. It is an object of the present invention to provide a control method of an electric steering apparatus using an SBW system that enables the steering control operation to be more actively by adding an AFS control logic that performs the yaw moment control.
상기한 목적을 달성하기 위한 본 발명은 조향 반력시스템 제어로직과 조타시스템 제어로직을 포함하는 SBW 시스템에 있어서, AFS 제어로직으로서, G센서의 감지에 의하여 조향기어비를 산출하는 단계와, 요율센서에 의하여 요율을 측정 연산하는 단계를 통하여 조향기어비의 가변제어와 요모멘트 제어를 수행할 수 있도록 한 것을 특징으로 하는 SBW 시스템을 이용한 전동 조향 장치의 제어 방법을 제공한다.The present invention for achieving the above object in the SBW system comprising a steering reaction system control logic and a steering system control logic, AFS control logic, the step of calculating the steering gear ratio by the detection of the G sensor, and the rate sensor It provides a control method of the electric steering apparatus using the SBW system, characterized in that to perform the variable control and yaw moment control of the steering gear ratio through the step of measuring and calculating the yaw rate.
바람직한 구현예로서, 상기 AFS 제어로직에 의한 조향기어비 산출 단계에 있어서, AFS 제어로직에 포함된 조향기어비 맵에 차속센서에 의한 차속을 입력시킴으로써, 차속에 따른 조향기어비가 산출되고, AFS 온과 함께 조향기어비의 가변제어 가 이루어지게 되는 것을 특징으로 한다.In a preferred embodiment, in the step of calculating the steering gear ratio by the AFS control logic, by inputting the vehicle speed by the vehicle speed sensor to the steering gear ratio map included in the AFS control logic, the steering gear ratio according to the vehicle speed is calculated, with the AFS on The variable control of the steering gear ratio is made.
바람직한 구현예로서, 상기 AFS 제어로직에서 조향각, 차속, 횡방향 가속도값를 이용하여 목표 요율을 계산하고, 이 목표값과 실제 감지된 요율값이 차이가 나면, AFS 온과 함께 조타시스템을 제어하여 전륜조향각을 이용한 요모멘트 제어가 수행되는 것을 특징으로 한다.In a preferred embodiment, the AFS control logic calculates a target rate using the steering angle, vehicle speed, and lateral acceleration values, and when the target value and the actual detected rate value are different, the front wheel is controlled by controlling the steering system together with the AFS on. The yaw moment control using the steering angle is characterized in that it is performed.
이하, 본 발명의 바람직한 실시예를 첨부도면을 참조로 상세하게 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
첨부한 도 1은 본 발명에 따른 SBW 시스템을 이용한 전동 조향 제어 방법을 위한 시스템 구성도이고, 도 2는 본 발명에 따른 SBW 시스템을 이용한 전동 조향 제어 방법의 제어로직 블럭선도이다.1 is a system configuration diagram for an electric steering control method using the SBW system according to the present invention, and FIG. 2 is a control logic block diagram of the electric steering control method using the SBW system according to the present invention.
상기 SBW 시스템은 첨부한 도 1에 도시된 바와 같이, 서로 기계적으로 분리된 스티어링 컬럼과 스티어링 기어 그리고 SBW용 전자제어유니트(ECU) 등의 구성을 기반으로 하며, 첨부한 도 2에 도시된 바와 같이, 조향반력 시스템 및 그 제어로직과 조타시스템 및 그 제어로직을 포함한다.As shown in FIG. 1, the SBW system is based on a configuration of a steering column, a steering gear, and an electronic control unit (ECU) for the SBW, which are mechanically separated from each other, as shown in FIG. 2. It includes steering reaction system and its control logic and steering system and its control logic.
상기 조향 반력 시스템은 스티어링 컬럼에 설치되는 조향각 센서와 조향 반력모터를 포함하고, 또한 토션바 토크를 감지하는 토크센서를 포함한다.The steering reaction force system includes a steering angle sensor and a steering reaction force motor installed on the steering column, and further includes a torque sensor that senses torque of the torsion bar.
따라서, 상기 조향각 센서의 감지에 의한 조향각과, 상기 토크센서의 감지에 의한 토션바 토크가 SBW용 전자제어유니트로 입력 전송되는 동시에 차속센서에 의한 차속값도 입력된 다음, SBW용 전자제어유니트에서 목표 조향 토크맵에 의하여 조향반력 모터의 구동량을 결정하는 동시에 조향반력 모터에 구동신호를 보내는 제어를 하게 된다. Therefore, the steering angle by sensing the steering angle sensor and the torsion bar torque by the sensing of the torque sensor are transmitted to the electronic control unit for SBW, and the vehicle speed value by the vehicle speed sensor is also input, and then in the electronic control unit for SBW. The driving amount of the steering reaction motor is determined by the target steering torque map, and the control signal is sent to the steering reaction motor.
상기 조타시스템은 스티어링 기어에 장착되는 조타 모터와, 랙변위센서를 포함한다.The steering system includes a steering motor mounted to a steering gear and a rack displacement sensor.
따라서, 상기 랙변위센서의 랙변위 감지값이 SBW용 전자제어유니트에 입력되는 동시에 상기 조향각 센서에서 감지된 조향각이 SBW용 전자제어유니트에 입력되어, 상기 조타모터의 구동량을 연산후 조타모터에 구동신호를 보내는 제어를 하게 된다.Accordingly, the rack displacement sensor value of the rack displacement sensor is input to the electronic control unit for SBW, and the steering angle detected by the steering angle sensor is input to the electronic control unit for SBW, and the driving amount of the steering motor is calculated to the steering motor. Control to send the drive signal.
여기서, 상기 SBW용 전자제어유니트에 횡방향 가속도를 감지하는 G센서와, 요잉 각속도율을 감지하는 요율센서를 연결하고, 또한 상기 SBW용 전자제어유니트내에 조향기어비를 산출할 수 있는 조향기어비 맵(도 3 참조)과 요율 계산식을 기반으로 하는 AFS제어 로직을 부가시킨다.Here, a steering gear ratio map for connecting a G sensor for detecting lateral acceleration and a yaw rate sensor for detecting yaw angular velocity rate to the electronic control unit for SBW, and for calculating a steering gear ratio in the electronic control unit for SBW ( And AFS control logic based on the rate calculation formula.
이에따라, 상기 차속센서에 의한 차속 감지값이 상기 SBW용 전자제어유니트의 조향기어비 맵에 입력되어, 차속에 따른 조향기어비가 산출되는 단계가 진행된다.Accordingly, the vehicle speed detection value by the vehicle speed sensor is input to the steering gear ratio map of the electronic control unit for the SBW to calculate the steering gear ratio according to the vehicle speed.
이어서, 산출된 조향기어비가 AFS 작동 영역에 속하는 경우, AFS 제어로직이 온(ON)되면서 이때의 조향기어비가 상기 조타시스템의 제어로직에 더해지게 되어,스티어링 기어의 작동이 이루어진다. Subsequently, when the calculated steering gear ratio belongs to the AFS operating region, the AFS control logic is turned on and the steering gear ratio at this time is added to the control logic of the steering system, thereby operating the steering gear.
또한, 상기 AFS 제어 로직의 다른 단계로서, 조향각센서의 감지에 의한 조향각과, 차속센서에 의한 차속과, G센서에 의한 가속도가 상기 SBW용 전자제어유니트에 입력된 후, 아래의 수학식 1에 의하여 목표 요율을 계산하고, 이 목표요율을 실제 요율값과 비교하여 그 차이에 의하여 AFS 작동여부를 판단하게 된다. In addition, as another step of the AFS control logic, the steering angle by the detection of the steering angle sensor, the vehicle speed by the vehicle speed sensor, and the acceleration by the G sensor are input to the electronic control unit for the SBW. The target rate is calculated, and the target rate is compared with the actual rate value to determine whether the AFS is operated based on the difference.
이어서, 목표요율과 실제요율값 차이에 의거 AFS 작동 영역에 속하는 경우, AFS 제어로직이 온(ON)되면서 상기 조타시스템을 제어하여 전륜 조향각을 이용한 요모멘트 제어가 수행된다.Subsequently, when belonging to the AFS operating area based on the difference between the target rate and the actual rate value, the AFS control logic is turned on to control the steering system to perform yaw moment control using the front wheel steering angle.
여기서, ω: 요율, δ: 조향각, V: 차속, N: 조향기어비, L: 휠베이스, A: 안정계수이다.Where ω: yaw rate, δ: steering angle, V: vehicle speed, N: steering gear ratio, L: wheelbase, and A: stability factor.
이와 같이, AFS 제어 시스템을 SBW 시스템에 적용함으로써, 스티어링 컬럼과 스티어링 기어가 기계적으로 연결된 기존의 조향장치에서 AFS 제어시스템에 의한 조타 제어 작동과 운전자의 핸들조작에 의한 조타시 서로 간섭을 일으키게 되어, 운전자 입장에서 느끼게 되는 핸들 조작감 불량 등의 문제점을 해결할 수 있다.In this way, by applying the AFS control system to the SBW system, the steering control operation by the AFS control system and the steering wheel operation by the driver in the existing steering device that the steering column and the steering gear is mechanically interfering with each other, It is possible to solve problems such as a poor handle operation feeling felt from the driver's point of view.
또한, 차량이 오버 조타(Over Steer)경향을 나타낼 때, 카운터 조타(Counter Steer)를 하여 차량의 오버 조타(Over Steer)경향을 줄여줌으로써, 선회안전성을 향상시킬 수 있다.
In addition, when the vehicle exhibits an over steering tendency, counter steering may be performed to reduce the over steering tendency of the vehicle, thereby improving turning safety.
이상에서 본 바와 같이, 본 발명에 따른 SBW 시스템을 이용한 전동 조향 장치의 제어 방법에 의하면, 조향반력모터를 포함하는 스티어링 컬럼과, 조타모터를 포함하는 스티어링 기어가 기계적으로 분리되는 동시에 전기적인 선으로 대체 구성 된 전동 조향 장치 및 조형반력시스템 제어로직과 조타시스템 제어로직에 의하여 작동되도록 하는 SBW 시스템에 있어서, G센서의 감지에 의하여 조향기어비를 산출하고, 요율센서에 의하여 요율을 측정 연산하는 단계를 통하여 조향기어비의 가변제어는 물론 전륜조향각을 이용한 요모멘트 제어를 수행하는 AFS 제어로직을 부가함으로써, 조타 제어 작동이 보다 능동적으로 이루어질 수 있다.As described above, according to the control method of the electric steering apparatus using the SBW system according to the present invention, the steering column including the steering reaction motor and the steering gear including the steering motor are separated mechanically and at the same time as the electric line. In the SBW system which is operated by the alternatively configured electric steering device and the molding reaction system control logic and the steering system control logic, the step of calculating the steering gear ratio by detecting the G-sensor and measuring and calculating the rate by the rate sensor By adding AFS control logic that performs yaw moment control using the front wheel steering angle as well as variable control of the steering gear ratio, steering control operation can be made more active.
또한, 차량이 오버 조타(Over Steer)경향을 나타낼 때, 카운터 조타(Counter Steer)를 하여 차량의 오버 조타(Over Steer)경향을 줄여줌으로써, 선회안전성을 향상시킬 수 있다.In addition, when the vehicle exhibits an over steering tendency, counter steering may be performed to reduce the over steering tendency of the vehicle, thereby improving turning safety.
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| JP2001334950A (en) | 2000-05-29 | 2001-12-04 | Koyo Seiko Co Ltd | Steering device for vehicle and attitude control device for vehicle |
| JP2004034834A (en) | 2002-07-03 | 2004-02-05 | Honda Motor Co Ltd | Driving operation device |
| JP2004237777A (en) | 2003-02-03 | 2004-08-26 | Toyota Motor Corp | Power steering device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001334950A (en) | 2000-05-29 | 2001-12-04 | Koyo Seiko Co Ltd | Steering device for vehicle and attitude control device for vehicle |
| JP2004034834A (en) | 2002-07-03 | 2004-02-05 | Honda Motor Co Ltd | Driving operation device |
| JP2004237777A (en) | 2003-02-03 | 2004-08-26 | Toyota Motor Corp | Power steering device |
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