KR20180130216A - Method and sytem for controlling an active roll stabilizer - Google Patents

Abstract

In the present invention, when a roll occurs at the time of traveling of a vehicle, when a torque according to the rotational force of the motor is transmitted to the stabilizer bar through a damper in order to control the roll, , And a torque that can not normally be transmitted due to a damping action of the damper is compensated and transmitted, an active roll stabilizer control system and method are disclosed.
The disclosed active roll stabilizer control system includes a roll angle sensor unit for measuring a roll angle according to roll moment generation of a vehicle; A motor for generating a rotational force for controlling the roll moment; A stirrer bar that receives a rotational force from the motor; A torque sensor unit for measuring a torque value generated in the stirrer bar based on the transmitted torque; And a deadband region in which there is no fluctuation in the torque value based on the rotational force and the roll angle according to the roll moment is set as a control period, and when the measured roll angle corresponds to the control period, the torque value is compensated And a control unit for controlling the motor to generate a torque corresponding to a compensated torque value.
According to the present invention, noise caused by roll control can be reduced and torque tracking performance can be improved.

Description

[0001] The present invention relates to an active roll stabilizer control system and method,

[0001] The present invention relates to an active roll stabilizer control system and method, and more particularly, to a method and system for controlling an active roll stabilizer when a roll occurs during running of a vehicle, Which can not normally be transmitted due to the damping action of the damper when the damper is transmitted to the stabilizer bar via the damper, thereby reducing the noise caused by the roll control and improving the torque following performance, To a roll stabilizer control system and method.

In general, the Active Roll Stabilizer (ARS) system controls the Roll Moment in order to prevent the deviation caused by the centrifugal force when the vehicle is turning left or right or running rough roads. .

The ARS system measures the torque of the stabilizer bar connected to the wheels to control the roll moment, thereby improving the riding comfort of the driver in driving the vehicle and enhancing the driving stability of the vehicle.

1 is a block diagram schematically showing the structure of a general ARS system.

Referring to FIG. 1, a general ARS system includes a motor 10, a housing 20, a stabilizer bar 30, a sensing gear portion 40, and a sensor portion 50.

The motor 10 generates a rotational force and the housing 20 is disposed in the receiving space of the housing 10 so that the motor 10 is fixed and a roll moment is generated when the motor 10 is driven.

The housing 20 is provided with a fixing portion 21 for fixing the motor 10. The motor 10 is fixedly disposed within the housing 20 by means of the fixing portion 21. Here, when the motor 10 is driven in a state where it is fixed to the housing 20, the housing 20 generates a torsional moment. The torque generated in the stabilizer bar 30 can be measured based on the twisting moment generated in this way. Meanwhile, a reduction gear 22, a damper 23, a heat sink 43, and the like can be accommodated in the housing space inside the housing 20.

The stirrer bar 30 is coupled to both sides of the housing 20 and receives rotational force from the motor 10. The stabilizer bar 30 controls the roll behavior of the vehicle when the vehicle is running, and receives the rotational force from the motor 10 when the motor 10 is driven. The stabilizer bar 30 is connected to the main gear portion, and the rotational force transmitted to the stabilizer bar 30 is transmitted to the main gear portion.

The sensing gear portion 40 receives rotational force from the main gear portion connected to the stabilizer bar 30 and amplifies the amount of rotation transmitted from the main gear portion. The sensing gear portion 40 may have a variable speed reduction ratio. When the speed reduction ratio of the sensing gear unit 40 is variable, the rotation amount is amplified by the sensing gear unit 40. Accordingly, the rotation amount is amplified even when the rotation speed is small, so that the torque generated in the stabilizer bar 30 can be accurately measured .

The sensor unit 50 measures the torque value generated in the stabilizer bar 30 based on the amount of rotation amplified by the sensing gear unit 40.

Among the above-mentioned components, the damper 23 transmits the torque generated according to the rotational force of the motor 10 to the stabilizer bar 30 and the elastic part (not shown) for protecting the reduction gear from the external impact 24). 2 is a view showing a structure of a damper in an ARS system.

The elastomeric portion 24 is formed mainly of elastic rubber. When the torque is transmitted to the stirrer bar 30 through the damper 23, the elastic portion 24 is generated in the stirrer bar 30 through the sensor portion 50 The hysteresis band of the elastic part 24 is measured as shown in FIG. 3 due to the characteristics of the rubber material of the elastic part 24 (in the order of ① → ② → ③ → ④) ) Region. Fig. 3 is a graph showing the torque values applied to the stirrer bar by the ARS system according to the roll angle. Fig. That is, when the roll is controlled, when the torque is inverted from (+) to (-) direction, the damper 23 is pushed and expanded, and the damper in the other direction, . When unloading is performed in loading due to the characteristics of the rubber damper when such torque control is performed, a difference between a torque rising curve and a falling curve occurs as shown in FIG. 3, and hysteresis occurs. For this reason, when the torque is inverted, the dead band width becomes large. When the motor operates at a certain frequency or more, the motor 10 operates at several tens of RPM or more in the dead band due to the torque control. Such a phenomenon lowers the torque following performance and tends to deteriorate the control performance.

Therefore, at the time of torque control in response to the generation of the rolling moment generated while the vehicle is running, the torque is not normally transmitted by the dead band region despite the rotation of the motor 10 at high speed, The noise caused by the noise is increased and a phase delay phenomenon occurs.

Korean Patent Publication No. 10-2017-0007007 (Published on January 18, 2017)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and it is an object of the present invention to solve the above-mentioned problems by providing a method of controlling a torque according to a rotational force of a motor, An active roll stabilizer control for reducing the noise caused by the roll control and improving the torque following performance by compensating and transmitting the torque that is not normally transmitted according to the damping action of the damper when the damper is transmitted to the stabilizer bar System and method.

According to an aspect of the present invention, there is provided an active roll stabilizer control system including: a roll angle sensor unit for measuring a roll angle according to roll moment of a vehicle; A motor for generating a rotational force for controlling the roll moment; A stirrer bar that receives a rotational force from the motor; A torque sensor unit for measuring a torque value generated in the stirrer bar based on the transmitted torque; And a deadband region in which there is no fluctuation in the torque value based on the rotational force and the roll angle according to the roll moment is set as a control period, and when the measured roll angle corresponds to the control period, the torque value is compensated And a control unit for controlling the motor to generate a torque corresponding to a compensated torque value.

In the active roll stabilizer control system according to an embodiment of the present invention, the control unit may change the roll angle from a minus (-) angle to a plus (+) angle with respect to the dead band region, An area in which the torque value does not fluctuate and remains constant at zero (0) value can be set as the control section when the torque value rises proportionally from the minus (-) value to the positive (+) value.

In the active roll stabilizer control system according to the embodiment of the present invention, a rotational force measuring unit may be further provided for measuring the rotational speed (RPM) of the motor.

In the active roll stabilizer control system according to the embodiment of the present invention, when the measured rotational speed rises below zero, the rotational speed RPM of the motor is equal to or greater than a predetermined value It is possible to set a negative torque compensation value so as to approach a curve formed by the interval ③ in which the measured torque value falls below zero.

In the active roll stabilizer control system according to the embodiment of the present invention, in the section (4) in which the measured torque value rises below zero (0), the torque value falls below zero The negative torque compensation value can be set so as not to exceed the torque value corresponding to the curve formed by the section (3).

In the active roll stabilizer control system according to the embodiment of the present invention, when the measured rotational speed falls below zero (2), the rotational speed RPM of the motor is equal to or greater than a predetermined value It is possible to set a positive torque compensation value so that the measured torque value approaches a curve formed by an interval ① in which the measured torque value rises above zero.

In the active roll stabilizer control system according to the embodiment of the present invention, in the section (2) in which the measured torque value falls below zero (0), the torque value rises above zero The positive torque compensation value can be set so as not to exceed the torque value corresponding to the curve formed by the section (1).

In the active roll stabilizer control system according to the embodiment of the present invention, when the rotational speed (RPM) of the motor is faster than a predetermined speed, the compensated torque value is proportionally increased Can be set.

In the active roll stabilizer control system according to the embodiment of the present invention, when the rotation speed (RPM) of the motor is slower than a predetermined speed, the compensated torque value can be set smaller than a certain value.

According to another aspect of the present invention, there is provided an active roll stabilizer control method comprising the steps of: (a) measuring roll angle in response to roll moment generation in a roll angle sensor unit; (b) generating a rotational force for controlling the roll moment and transmitting the generated rotational force to the stabilizer bar; (c) measuring a torque value generated by the torque sensor unit in the stabilizer bar; (d) setting a compensation torque value by compensating the torque value when the control unit determines that the measured roll angle corresponds to the control period; And (e) controlling the motor to generate a torque corresponding to the value of the torque feedback.

In the active roll stabilizer control method according to the embodiment of the present invention, in the step (d), the control unit changes the roll angle from a minus (-) angle to a plus (+ An area in which the torque value does not fluctuate and remains constant at zero (0) when the torque value corresponding to the torque value rises proportionally from the minus (-) value to the plus (+) value can be set as the control section .

In the active roll stabilizer control method according to an embodiment of the present invention, in the step (d), the control unit may control the compensating torque value so that the measured torque value rises up to zero (0) (-) is set to be close to a curve formed by a section (3) in which the measured torque value falls below zero (0) when the rotational speed (RPM) of the motor is faster than a predetermined value, A torque feedback value can be set.

In the active roll stabilizer control method according to the embodiment of the present invention, in the step (d), the control unit may set the torque value to zero when the measured torque value rises below zero, (-) compensated torque value so that the torque value corresponding to the curve formed by the falling section (③) is not exceeded.

In the active roll stabilizer control method according to an embodiment of the present invention, in the step (d), the control unit may control the compensating torque value so that the measured torque value falls within a range (2) (+) So that the measured torque value approaches a curve formed by a section (1) in which the measured torque value rises above zero, when the rotational speed RPM of the motor is faster than a predetermined value, A torque feedback value can be set.

In the active roll stabilizer control method according to the embodiment of the present invention, in the step (d), the control unit may set the torque value to zero when the measured torque value falls from zero (0) It is possible to set the positive torque compensation value so as not to exceed the torque value corresponding to the curve formed by the section (1) rising above the predetermined value (0).

In the active roll stabilizer control method according to the embodiment of the present invention, in the step (d), the control unit adjusts the torque feedback value in proportion to the rotational speed (RPM) It can be set to a larger value than the predetermined value.

In the active roll stabilizer control method according to an embodiment of the present invention, in the step (d), when the rotation speed (RPM) of the motor is slower than a predetermined speed, the controller compensates the compensated torque It can be set smaller than a predetermined value.

Other aspects, advantages and features of the present invention will become more apparent on the basis of the following description in the entire specification, including the following sections: Brief Description of the Drawings, Detailed Description, and Claims.

According to the present invention, at the time of torque control due to the generation of roll moment, the torque generated by the motor is normally and efficiently transmitted to the stabilizer bar without using the maximum RPM of the motor, And the phase delay phenomenon can be prevented.

1 is a block diagram schematically showing the structure of a general ARS system.
2 is a view showing a structure of a damper in an ARS system.
Fig. 3 is a graph showing the torque values applied to the stirrer bar by the ARS system according to the roll angle. Fig.
4 is a block diagram schematically showing a configuration of an active roll stabilizer control system according to an embodiment of the present invention.
5 is a flowchart illustrating an active roll stabilizer control method according to an embodiment of the present invention.
6 is a graph showing a torque and a target torque according to the rotational force of the motor according to the embodiment of the present invention.
7 is a graph showing an example of a graph in which a correction torque value is set so as to approach a curve formed by an interval in which a torque value rises above zero (zero) according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

4 is a block diagram schematically showing a configuration of an active roll stabilizer control system according to an embodiment of the present invention.

4, an active roll stabilizer control system 400 according to an embodiment of the present invention includes a roll angle sensor unit 410, a motor 10, a stabilizer bar 30, a torque sensor unit 420, And a control unit 430.

The roll angle sensor unit 410 measures the roll angle according to the roll moment of the vehicle. That is, the roll angle sensor unit 410 generates a roll moment due to a phenomenon that the roll angle sensor unit 410 tilts to one side as the vehicle travels on the road surface turning left or right or running on the rough road surface, and the twist angle Roll Angle.

The motor 10 generates a rotational force for controlling the roll moment.

The stirrer bar 30 receives the rotational force from the motor 10 and transmits it to the main gear unit (not shown).

The torque sensor unit 420 measures a torque value generated in the stabilizer bar 30 based on the transmitted torque.

The control unit 430 sets a deadband region having no fluctuation in the torque value based on the rotational force and the roll angle according to the roll moment as a control period, and when the measured roll angle corresponds to the control period, And controls the motor 10 so that a torque corresponding to the compensated torque value is generated.

The active roll stabilizer control system 400 according to the embodiment of the present invention may further include a rotational force measuring unit 440 for measuring the rotational speed RPM of the motor 10. [

3, the control unit 430 converts the roll angle from a minus (-) angle to a plus (+) angle (④➝1) as shown in FIG. 3, When the torque rises proportionally from a minus (-) value to a positive (+) value, an area in which the torque value does not change and remains constant at zero (0) have. That is, the control unit 430 sets the interval in which the roll angle is from -5 degrees to +5 degrees as the control period in FIG.

The control unit 430 determines whether or not the rotational speed RPM of the motor 10 is equal to or greater than the compensated torque value in the section 4 where the torque value measured through the torque sensor unit 420 rises below zero A negative torque compensation value can be set so as to be close to a curve formed by the interval ③ in which the torque value falls below zero at a time faster than a predetermined value. At this time, the control unit 430 determines whether the torque value measured through the torque sensor unit 420 is within the range (④) where the torque value rises below zero (0) A negative torque compensation value can be set so as not to exceed the torque value corresponding to the curve to be formed.

The control unit 430 determines whether or not the rotational speed RPM of the motor 10 is faster than a predetermined speed in a section where the torque value measured through the torque sensor unit 420 is lower than zero , It is possible to set a positive torque compensation value so as to approach a curve formed by the interval (1) in which the torque value rises above zero (0). At this time, the controller 430 determines whether or not the curve (curve) formed by the section (1) in which the torque value rises above the zero (0) in the section (2) where the measured torque value falls from zero It is possible to set a positive torque compensation value so as not to exceed the corresponding torque value.

When the rotation speed RPM of the motor 10 is faster than a predetermined speed, the control unit 430 sets the compensation torque value to be larger than a predetermined value so as to be proportional to the roll angle, RPM) is slower than the predetermined value, the torque feedback value can be set to be smaller than a predetermined value.

5 is a flowchart illustrating an active roll stabilizer control method according to an embodiment of the present invention.

Referring to FIG. 5, in the active roll stabilizer control system 400 according to the embodiment of the present invention, when the vehicle is running and then turns left or right, or is tilted toward one side according to the rough road surface condition, The roll angle of the vehicle is measured in step 410 (S510).

In addition, the controller 430 drives the motor 10 when the vehicle tilts to one side according to the turning state of the vehicle or the rough road surface, and a roll moment is generated.

Accordingly, the motor 10 generates a rotational force for controlling the roll moment and transmits it to the stabilizer bar 30 (S520).

When the stabilizer bar 30 receives the rotational force from the motor 10, the stabilizer bar 30 generates a torque value corresponding to the transmitted rotational force, and also transmits the rotational force to the main gear portion.

At this time, the sensing gear portion 40 receives the rotational force from the main gear portion connected to the stabilizer bar 30, and amplifies the transmitted rotational force according to the deceleration ratio. That is, when the reduction gear ratio is varied, the sensing gear unit 40 amplifies the rotation amount according to the variable gear ratio, and accordingly, the rotation amount is amplified even when the rotation speed is small. Thus, the torque generated in the stabilizer bar 30 can be accurately measured It will be.

Next, the torque sensor 420 measures the torque value generated in the stabilizer bar 30 and transmits the measured torque value to the controller 430 (S530).

At this time, the torque sensor unit 420 is disposed in the housing space of the housing 20. When the motor 10 is driven, a roll moment is generated in the housing 20, and based on the roll moment thus generated The torque generated in the stabilizer bar 30 can be measured.

For example, the torque sensor unit 420 includes a rotor, a coil, a Hall sensor, and a circuit element. The rotor rotates in accordance with the amount of rotation amplified by the sensing gear 40. When the rotor rotates, an induced current is generated. An induced electromotive force is generated in the coil according to the induced current caused by the rotation of the rotor. When the induction current is generated by the rotation of the rotor, induction electromotive force is generated in the coil according to the induction current. That is, the induced electromotive force due to the induced current is conducted to the coil.

The hall sensor detects the current value of the induced electromotive force. When induction electromotive force is generated in the coil, the hall sensor detects the current value of the induced electromotive force generated in the coil. The circuit element calculates the torque value of the stabilizer bar 30 based on the current value detected by the hall sensor. The circuit element calculates the detected current value to calculate the torque value of the stabilizer bar 30. [ Here, the coil, the Hall sensor, and the circuit element can be disposed on the printed circuit board.

As a result, the torque sensor unit 420 detects the current value of the induced electromotive force generated in the coil in accordance with the rotation of the rotor by using the hall sensor, and detects the current value of the induction electromotive force generated in the stabilizer bar 30 And the torque value is measured.

If the measured roll angle corresponds to the control period, the control unit 430 compensates the torque value to set the compensation torque value (S540).

Here, the control unit 430 determines whether the roll angle is changed from a minus (-) angle to a plus (+) angle and a torque value corresponding thereto is a minus (-) value as shown in Fig. 3 When the torque rises proportionally to the plus (+) value (④-> ①), the control region is set to an area (two elliptical sections) in which the torque value remains unchanged and remains constant at zero (0). That is, in FIG. 3, the section in which the torque value is kept at zero from the roll angle of -5 degrees to +5 degrees is set as the dead band zone as the control section.

At this time, the control unit 430 detects the rotation speed RPM of the motor 10 through the torque measurement unit 440 and sets a torque feedback value based on the detected rotation speed RPM have.

That is, in FIG. 3, in the dead band region corresponding to the control period, the torque is not changed even though the motor 10 rapidly rotates at the elliptical display portion due to the decompression of the damper 23 of the rubber material. It rotates at several thousand RPM to match. Therefore, in the motor 10, as shown in FIG. 6, the torque value is generated in the impulse form only in the dead band region. Therefore, when the section in which the RPM is generated is dispersed, the maximum RPM can be kept low, Tracking performance can be improved. 6 is a graph showing a torque and a target torque according to the rotational force of the motor according to the embodiment of the present invention. At this time, the compensating torque (Feedback Torque) is a value obtained by adding the feed forward term torque to the measured torque. The forward compensation is a method of predicting the torque to be compensated by calculation and performing control based on the information. The general feedback is to manipulate the intended purpose when the objective value to be controlled deviates from its intended purpose, but the feedforward is to inform the predicted and control the future before the sign of deviation from the target.

When the motor 10 is operating at a high RPM, it is difficult to instantaneously switch the operation due to the moment of inertia of the vehicle body and the gear. In this case, the section (4) in which the measured torque value rises below zero (0) or the section (2) in which the measured torque value falls from zero A curve (1) formed by a section in which the torque value rises above zero (0) as shown in FIG. 7 in accordance with the torque descending map Map and the torque The value of the torque feedback is set so as to be close to the curve (3) formed by the section where the value falls below zero (0). 7 is a graph showing an example of a graph in which a correction torque value is set so as to approach a curve formed by an interval in which a torque value rises above zero (zero) according to an embodiment of the present invention.

That is, the control unit 430 determines whether or not the rotational speed RPM (rpm) of the motor 10 is higher than the compensated torque value in the section (4) in which the torque value measured through the torque sensor unit 420 rises below zero ) Is set to a value close to a curve formed by the interval (3) in which the torque value falls below zero (0) will be. At this time, the control unit 430 determines whether the torque value measured through the torque sensor unit 420 is within the range (④) where the torque value rises below zero (0) (-) compensated torque value so as not to exceed the torque value corresponding to the curve to be formed.

The control unit 430 determines whether or not the rotational speed RPM of the motor 10 is faster than a predetermined speed in a section where the torque value measured through the torque sensor unit 420 is lower than zero , It is possible to set a positive torque compensation value so as to approach a curve formed by the interval (1) in which the torque value rises above zero (0). At this time, the controller 430 determines whether or not the curve (curve) formed by the section (1) in which the torque value rises above the zero (0) in the section (2) where the measured torque value falls from zero It is possible to set a positive torque compensation value so as not to exceed the corresponding torque value.

Therefore, the compensating value for adding the feed forward torque to the measured torque in the region where the inertia moment by the actuator is large, that is, the region where the RPM of the motor 10 is large, is proportionally set large, , It is possible to reduce discontinuity points according to the control period by setting a small compensation value for adding the feed forward torque to the measured torque.

When the rotation speed RPM of the motor 10 is faster than a predetermined speed, the control unit 430 sets the compensated torque value to be larger than a predetermined proportion, When the rotation speed RPM is slower than a predetermined speed, the value of the torque feedback can be set smaller than a certain value.

Then, the controller 430 controls the motor 10 to generate a torque corresponding to the torque feedback value (S550).

Therefore, the hysteresis band is reduced, and the maximum RPM is lowered when the torque is inverted by the reduced band width, thereby reducing the noise. In addition, the overall torque control performance is improved, and the phase delay phenomenon that may occur in torque control can be improved.

As described above, according to the present invention, when a roll occurs at the time of traveling of a vehicle, a torque corresponding to the rotational force of the motor is controlled by a damper to control the rotation of the stirrer bar Stabilizer bar control system and method, which can reduce noise due to roll control and improve torque follow-up performance by compensating and transmitting torque that can not normally be transmitted according to a damping action of a damper Can be realized.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

10: motor 20: housing
21: Fixing portion 22: Reduction gear
23: damper 24:
30: stirrer bar 40: sensing gear part
43: heat sink 50: sensor part
400: Active roll stabilizer control system
410: Roll angle sensor part 420: Torque sensor part
430: control unit 440: rotational force measuring unit

Claims (17)

A roll angle sensor unit for measuring a roll angle according to the roll moment of the vehicle;
A motor for generating a rotational force for controlling the roll moment;
A stirrer bar that receives a rotational force from the motor;
A torque sensor unit for measuring a torque value generated in the stirrer bar based on the transmitted torque; And
A dead band region in which there is no fluctuation in torque value based on the rotational force and the roll angle in accordance with the roll moment is set as a control period and the torque value is compensated when the measured roll angle corresponds to the control period, A controller for controlling the motor to generate a torque corresponding to a compensated torque value;
And a controller for controlling the actuator. The method according to claim 1,
Wherein the control unit changes the roll angle from a minus (-) angle to a plus (+) angle with respect to the dead band region and if the torque value corresponding thereto is proportional from a minus (-) value to a plus And sets a region in which the torque value does not fluctuate and remains constant at a zero value as a control section when the torque value rises to zero. The method according to claim 1,
A rotation force measuring unit for measuring a rotation speed (RPM) of the motor;
Further comprising: an active roll stabilizer control system. In the second aspect,
Wherein the controller determines that the measured torque value is zero when the rotational speed RPM of the motor is faster than a predetermined value in a section where the measured torque value rises below zero, , And sets a negative torque compensation value close to a curve formed by a falling section (3) below. 5. The method of claim 4,
Wherein the control unit sets the torque value corresponding to the curve formed by the interval (3) in which the torque value falls below zero at an interval (4) in which the measured torque value rises below zero (0) And sets the negative torque compensation value so as not to exceed the negative torque limit value. In the second aspect,
Wherein the controller determines that the measured torque value is zero when the rotational speed RPM of the motor is faster than a predetermined value in a section where the measured torque value falls below zero, And sets a positive torque compensation value so as to approach a curve formed by the rising section (1) of the active roll stabilizer control system. The method according to claim 6,
Wherein the control unit is configured to calculate a torque value corresponding to a curve formed by a section in which the torque value rises at zero or more in a section where the measured torque value falls from zero or more, And sets the positive torque compensated value so as not to exceed the torque value. The method of claim 3,
Wherein the controller sets the compensated torque value to a value that is proportionally greater than a predetermined value when the rotation speed of the motor is faster than a predetermined speed. The method of claim 3,
And sets the compensated torque value to be less than a predetermined value when the rotational speed RPM of the motor is slower than a predetermined speed. (a) measuring a roll angle according to roll moment generation of a vehicle at a roll angle sensor unit;
(b) generating a rotational force for controlling the roll moment and transmitting the generated rotational force to the stabilizer bar;
(c) measuring a torque value generated by the torque sensor unit in the stabilizer bar;
(d) setting a compensation torque value by compensating the torque value when the control unit determines that the measured roll angle corresponds to the control period;
(e) controlling the motor such that a control unit generates a torque according to the torque feedback value;
/ RTI > 11. The method of claim 10,
In the step (d), the control unit changes the roll angle from a minus (-) angle to a plus (+) angle with respect to the control period, and when the torque value corresponding to the roll angle is minus (- ), The control section sets an area in which the torque value remains unchanged and remains constant at zero (0), as the control section. 11. The method of claim 10,
In the step (d), the control unit may determine that the rotational speed (RPM) of the motor is faster than a predetermined speed in a section (4) in which the measured torque value rises below zero (0) , A negative torque compensation value is set so as to approach a curve formed by the interval (3) in which the measured torque value falls below zero (0) A stabilizer control method. 13. The method of claim 12,
In the step (d), the controller may calculate a curve formed by a section (3) in which the torque value falls below zero (0) or less in a section (4) where the measured torque value rises below zero The negative torque compensation value is set so as not to exceed the torque value corresponding to the negative torque. The method according to claim 10,
In the step (d), the control unit may determine that the rotational speed (RPM) of the motor is faster than a predetermined speed, in a section (2) in which the measured torque value falls from zero , A positive torque value is set so as to approach a curve formed by a section (1) in which the measured torque value rises above zero (0) A stabilizer control method. 15. The method of claim 14,
In the step (d), the controller may calculate a curve formed by a section (1) in which the torque value rises above zero, in a section (2) where the measured torque value falls from zero (0) (+) Compensated torque (Torque Feedback) value so as not to exceed a torque value corresponding to a curve (Curbe) of the active roll stabilizer. 11. The method of claim 10,
In the step (d), the controller sets the compensation torque (Torque Feedback) value to a value that is proportionally greater than a predetermined value when the rotation speed (RPM) of the motor is faster than a predetermined speed. . 11. The method of claim 10,
Wherein the control unit sets the compensated torque value to be less than a predetermined value when the rotational speed RPM of the motor is slower than a predetermined speed in the step (d).

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