Methods and apparatus for determining kinetic friction in electromechanical steering actuators

Patent metadata

Field	Value
Publication number	US-10106190-B2
Application number	US-201715436109-A
Country	US
Kind code	B2
Filing date	Feb 17, 2017
Priority date	Feb 17, 2017
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

Methods and apparatus for determining kinetic friction in electromechanical steering actuators are disclosed herein. In some examples, the apparatus comprises a steering controller. In some examples, the steering controller is to apply an input torque to a steering system via a motor. In some examples, the steering controller is to determine an angular acceleration of the steering system in response to the input torque. In some examples, the steering controller is to determine a response torque based on the angular acceleration. In some examples, the steering controller is to determine a friction torque of the steering system based on the input torque and the response torque.

First claim

What is claimed is:

1. An apparatus comprising:
a steering controller including:
a motor driver to apply a sinusoidally varying input torque to a steering system via a motor;
an angle sampler to detect steering angle position data from a steering input sensor in response to the applied input torque and based on a sampling rate;
an angular acceleration determiner to determine an angular acceleration of the steering system based on the steering angle position data and the sampling rate;
a response torque determiner to determine a response torque based on the angular acceleration and predetermined inertia data of the steering system; and
a friction torque determiner to determine a friction torque of the steering system based on the input torque and the response torque.

2. The apparatus of claim 1 , wherein the input torque is based on a voltage applied to the motor.

3. The apparatus of claim 1 , wherein the friction torque is equal to the response torque subtracted from the input torque.

4. The apparatus of claim 1 , wherein the steering controller is to add the friction torque to a second input torque applied to the steering system in response to a steering movement.

5. The apparatus of claim 1 , wherein the steering angle position data includes at least two angular positions of the steering system measured via the angle sampler based on the sampling rate.

6. The apparatus of claim 1 , wherein the input torque is to be applied to the steering system during a lane departure warning.

7. The apparatus of claim 1 , wherein the steering controller further includes a friction torque filterer to filter the friction torque based on vehicle data.

8. The apparatus of claim 7 , wherein the steering controller further includes a friction torque validator to determine, based on vehicle data, whether the filtered friction torque was acquired during a valid driving situation.

9. The apparatus of claim 8 , wherein the steering controller is to add the filtered and validated friction torque to a second input torque applied to the steering system in response to a steering movement.

10. A method comprising:
applying a sinusoidally varying input torque to a steering system via a motor;
detecting, by executing one or more instructions with a steering controller, steering angle position data from a steering input sensor in response to the applied input torque and based on a sampling rate;
determining, by executing one or more instructions with the steering controller, an angular acceleration of the steering system based on the steering angle position data and the sampling rate;
determining, by executing one or more instructions with the steering controller, a response torque based on the angular acceleration and predetermined inertia data of the steering system; and
determining, by executing one or more instructions with the steering controller, a friction torque of the steering system based on the input torque and the response torque.

11. The method of claim 10 , wherein the input torque is based on a voltage applied to the motor.

12. The method of claim 10 , wherein the friction torque is equal to the response torque subtracted from the input torque.

13. The method of claim 10 , further including adding the friction torque to a second input torque applied to the steering system in response to a steering movement.

14. The method of claim 10 , wherein determining the steering angle position data includes at least two angular positions of the steering system measured based on the sampling rate.

15. The method of claim 10 , wherein the input torque is applied to the steering system during a lane departure warning.

16. A tangible computer readable storage medium comprising instructions which, when executed, cause a processor to at least:
apply a sinusoidally varying input torque to a steering system via a motor;
detect steering angle position data from a steering input sensor in response to the applied input torque and based on a sampling rate;
determine an angular acceleration of the steering system based on the steering angle position data and the sampling rate;
determine a response torque based on the angular acceleration and predetermined inertia data of the steering system; and
determine a friction torque of the steering system based on the input torque and the response torque.

17. The tangible computer readable storage medium of claim 16 , wherein the instructions, when executed, cause the processor to apply the input torque to the steering system by applying a voltage to the motor.

18. The tangible computer readable storage medium of claim 16 , wherein the friction torque is equal to the response torque subtracted from the input torque.

19. The tangible computer readable storage medium of claim 16 , wherein the instructions, when executed, further cause the processor to add the friction torque to a second input torque applied to the steering system in response to a steering movement.

20. The tangible computer readable storage medium of claim 16 , wherein the steering angle position data includes at least two angular positions of the steering system measured based on the sampling rate.

Assignees

• Ford Global Tech Llc

Inventors

• Bremkens Jan
• Nehls Oliver
• Park Joseph
• Wijffels Lodewijk
• Macfarland Cornelius

Classifications

• B62D5/0463 Primary

  calculating assisting torque from the motor based on driver input · CPC title

• G01L5/0042

  applying a torque · CPC title

• B62D6/10

  characterised by means for sensing {or determining} torque · CPC title

• G01L5/221

  to steering wheels, e.g. for power assisted steering · CPC title

• B62D15/021

  Determination of steering angle · CPC title