Steering control device and power steering device

Patent metadata

Field	Value
Publication number	US-11897559-B2
Application number	US-201916585086-A
Country	US
Kind code	B2
Filing date	Sep 27, 2019
Priority date	Sep 28, 2018
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A steering control device for controlling drive of a motor that drives a steering mechanism according to an operation amount of a steering wheel, includes a first torque command controller that instructs the motor on motor torque according to the operation amount of the steering wheel, and a second torque command controller that instructs the motor on the motor torque according to the operation amount of the steering wheel in parallel with the first torque command controller. The second torque command controller suppresses a frequency region corresponding to disturbance added to the steering mechanism with respect to the operation amount of the steering wheel with a filter.

First claim

What is claimed is:

1. A steering control device for controlling drive of a motor that drives a steering mechanism according to an operation amount of a steering wheel, the steering control device comprising:
a first torque command controller that instructs the motor on motor torque according to the operation amount of the steering wheel; and
a second torque command controller that instructs the motor on the motor torque according to the operation amount of the steering wheel in parallel with the first torque command controller; wherein
the second torque command controller suppresses a frequency region corresponding to disturbance added to the steering mechanism with respect to the operation amount of the steering wheel with a filter;
the steering wheel applies steering torque to the steering mechanism via a torsion bar;
the steering control device further includes a cancellation command controller;
the cancellation command controller cancels the steering torque from an output of the second torque command controller to work together with the second torque command controller to suppress the disturbance added to the steering mechanism with respect to the operation amount of the steering wheel; and
the steering torque is applied in parallel with:
(i) an output of the first torque command controller; and
(ii) the output of the second torque command controller after the cancellation command controller has canceled the steering torque from the output of the second torque command controller.

2. The steering control device according to claim 1 , wherein the filter includes a band limit filter and a high pass filter disposed in parallel.

3. The steering control device according to claim 1 , wherein the second torque command controller decreases the motor torque instructed to the motor as a vehicle speed decreases.

4. The steering control device according to claim 1 , wherein
a gain of the second torque command controller is larger than a product of a torsion coefficient of the torsion bar and a plant element in the steering mechanism.

5. A power steering device, comprising:
a steering control device to control driving of a motor that drives a steering mechanism according to an operation amount of a steering wheel, the steering control device including:
a first torque command controller that instructs the motor on motor torque according to the operation amount of the steering wheel; and
a second torque command controller that instructs the motor on the motor torque according to the operation amount of the steering wheel in parallel with the first torque command controller; wherein
the second torque command controller suppresses a frequency region corresponding to disturbance added to the steering mechanism with respect to the operation amount of the steering wheel with a filter;
the steering wheel applies steering torque to the steering mechanism via a torsion bar;
the steering control device further includes a cancellation command controller;
the cancellation command controller cancels the steering torque from an output of the second torque command controller to work together with the second torque command controller to work together with the second torque command controller to the disturbance added to the steering mechanism with respect to the operation amount of the steering wheel with the filter and the motor torque that cancels the steering torque;
the steering torque is applied in parallel with:
(i) an output of the first torque command controller; and
(ii) the output of the second torque command controller after the cancellation command controller has canceled the steering torque from the output of the second torque command controller;

the motor includes a drive that is controlled by the steering control device; and
the steering mechanism is driven by the motor.

Assignees

• Nidec Corp

Inventors

• Ishimura Hiroyuki
• Endo Shuji
• Sun Hanyu

Classifications

• B62D6/008 Primary

  Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications · CPC title

• B62D1/11

  incorporating energy-absorbing arrangements, e.g. by being yieldable or collapsible (padded linings associated with the steering wheel B60R21/05; shock absorbers using plastic deformation of members in general F16F7/12) · CPC title

• B62D5/0463 Primary

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

• B62D6/00

  Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) · CPC title

• B62D5/0472

  for damping vibrations · CPC title