Method and device for determining a controller output variable of a controller for manual torque control of a steer-by-wire steering system for a vehicle

Patent metadata

Field	Value
Publication number	US-12515736-B2
Application number	US-202218699221-A
Country	US
Kind code	B2
Filing date	Sep 19, 2022
Priority date	Oct 11, 2021
Publication date	Jan 6, 2026
Grant date	Jan 6, 2026

Abstract

A method is for determining a controller output variable of a control unit having a controller for a controlled system, more particularly for manual torque control of a steer-by-wire steering system for a vehicle. The method includes adjusting a specified controller property of the controller using a specified adjustment portion, and continuously changing an influence of the specified adjustment portion on the controller property based on a parameter. The parameter is determined based on an operating situation of the controlled system, more particularly a steering and/or driving situation of the vehicle. The controller output variable is determined using the controller.

First claim

The invention claimed is:

1 . A method for determining a controller output variable of a control unit for a controlled system, the control unit having a controller and a specified adjustment portion, the method comprising:
generating, with the specified adjustment portion, an adjustment signal; receiving, with the controller, a desired output variable and the adjustment signal from the specified adjustment portion, a specified controller property of the controller being adjusted based on the adjustment signal; continuously changing an influence of the specified adjustment portion on the specified controller property by scaling the adjustment signal from the specified adjustment portion with a parameter; determining the parameter based on an operating situation of the controlled system; and determining the controller output variable using the controller.

2 . The method according to claim 1 , wherein the specified adjustment portion is determined based on an operational variable of the controller.

3 . The method according to claim 1 , wherein:
the controller output variable is determined based on a transfer function of the control unit, the transfer function is defined by a coprime factorization of the controlled system, the specified adjustment portion is parameterized using a Youla parameterization, and the Youla parameterization is scaled based on the parameter.

4 . The method according to claim 1 , further comprising:
modifying at least one transfer behavior of a control circuit comprising the control unit and the controlled system by the parameter, wherein at least one other transfer behavior of the control circuit is not modified.

5 . The method according to claim 1 , wherein a gradient of the parameter is not limited.

6 . A device for determining a controller output variable of a control unit for a controlled system, the control unit having a controller and a specified adjustment portion, the device configured to:
generate, with the specified adjustment portion, an adjustment signal; receive, with the controller, a desired output variable and the adjustment signal from the specified adjustment portion, a specified controller property of the controller being adjusted based on the adjustment signal; continuously change an influence of the specified adjustment portion on the specified controller property by scaling the adjustment signal from the specified adjustment portion with a parameter; determine the parameter based on an operating situation of the controlled system; and determine the controller output variable using the controller.

7 . The device according to claim 6 , wherein the device is configured to determine the specified adjustment portion based on an operational variable of the controller.

8 . The device according to claim 6 , wherein:
the device is configured to determine the controller output variable based on a transfer function of the control unit, the transfer function is defined by a coprime factorization of the controlled system, the specified adjustment portion is parameterized using a Youla parameterization, and the device is configured to scale the Youla parameterization using the parameter.

9 . The device according to claim 6 , wherein the device is configured to modify at least one transfer behavior of a control circuit comprising the control unit and the controlled system using the parameter, and not to modify at least one other transfer behavior of the control circuit.

10 . The device according to claim 6 , wherein the device is configured such that a gradient of the parameter is not limited.

11 . A vehicle, comprising:
a device according to claim 6 .

12 . The method according to claim 1 , wherein the operating situation is a steering and/or driving situation of a vehicle including the controlled system.

Assignees

• Bosch Gmbh Robert

Inventors

• Gruener Stefan
• Guo Yang
• Kaepernick Bartosz

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