WO2000043251A1 - Redundant device for producing torques - Google Patents
Redundant device for producing torques Download PDFInfo
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- WO2000043251A1 WO2000043251A1 PCT/EP2000/000311 EP0000311W WO0043251A1 WO 2000043251 A1 WO2000043251 A1 WO 2000043251A1 EP 0000311 W EP0000311 W EP 0000311W WO 0043251 A1 WO0043251 A1 WO 0043251A1
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- torque
- shaft
- electric motor
- steering
- handling device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
- B62D5/005—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback
- B62D5/006—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup means for generating torque on steering wheel or input member, e.g. feedback power actuated
Definitions
- the present invention relates to a device for generating a torque on a shaft with the features of claim 1 and a method for operating a device for generating a torque on a shaft.
- Such a device is known for example from EP 0854075 A2.
- a steering column is shown there, which is not mechanically coupled to the steering gear of a motor vehicle.
- the steering column with the steering wheel attached to it fulfills the function of a target angle transmitter, via which the desired steering angle of the steered wheels of the motor vehicle is set.
- the steering gear is driven in accordance with the set target angle, so that the motor vehicle initiates cornering.
- For a Safe driving requires that the driver perceive steering reaction forces via the steering wheel.
- These steering reaction forces which represent a measure of the direction and the amount of the wheel angle, are introduced into the steering column via an electric motor, which is referred to as a so-called manual actuator.
- EP0854075 A2 provides that a torsion spring applies a certain amount of manual force purely mechanically, the steering being force-free in its central position.
- a second electric motor acts to generate the torque on the same shaft, the first electric motor and the second electric motor each producing one part of the torque, the failure of one of the two electric motors can be immediately compensated for by comparing the torque setpoint with the actual torque value be so that at ideal design a change in the simulated steering reaction forces is not noticeable.
- Another advantage of the device is that both electric motors only have to provide part of the power required, so that they can each be designed to be smaller than when the torque is generated by a single electric motor. This results in special cost advantages if the first and second electric motors are identical in these things and each generate approximately the same torques during operation. A particularly advantageous application results when the handling device is a steering wheel of a motor vehicle. However, the advantages according to the invention also result for other actuating devices that are not mechanically positively coupled.
- the electric motors are dimensioned such that the maximum required torque cannot be generated individually in normal operation or continuous operation, i.e. they would be individually undersized for the respective task, there may be particular advantages with regard to the costs of the electric motors and their control, however result in terms of heat development, the space required and the weight.
- a particularly simple construction results if the shaft is designed as a common motor shaft of the first and the second electric motor.
- the electric motors can act on the shaft via a gear, in particular via a spur gear, a worm gear or a planetary gear. In the latter gear, the motors can also concentrically surround the shaft despite the gear reduction.
- the other electric motor completely applies the required torque if one electric motor fails.
- the change in the control state can take place so quickly that the user does not notice this or at least does not find it disturbing.
- the other electric motor can be operated briefly in overload, so that the torque then does not drop or only drops briefly.
- the overload operation of this electric motor is only maintained for a short time and is continuously transferred to normal operation, which can be easily coped with over the long term.
- this effect would be felt by a gradual drop in steering reaction forces to 50% of normal. If this transition takes place gradually, for example within a few seconds or minutes, this transition is not disturbing and, in particular, is not dangerous with regard to the control of the motor vehicle.
- a particularly favorable application of the device or the method results if the torque is opposed to a torque that is manually introduced onto the shaft via the handling device and is used in particular in steering systems without mechanical forced coupling between the handling device and the steered wheels to simulate steering forces or steering reaction forces.
- the size of the torque applied to the handling device can be reliably determined via the current consumption of at least one electric motor.
- Figure 1 an inventive device for generating steering reaction forces with a concentric arrangement of two electric motors around the shaft; such as
- Figure 2 another embodiment in which two electric motors act on the shaft via a worm gear arranged laterally next to the shaft.
- the shaft 2 carries a steering angle sensor, not shown here, for the determination of the target angle and, if necessary, a mechanical torsion spring for mechanically returning the steering wheel 1 to the central position.
- the shaft 2 is provided with a first electric motor 3 and a second electric motor 4.
- the electric motors 3 and 4 are coupled to the shaft 2 via a spur gear.
- FIG. 2 shows another embodiment of the present invention in a plan view in the axial direction of the shaft 2.
- the shaft 2 here carries a non-rotatable worm wheel 5, which is positively coupled to a motor shaft 7 via a pinion 6.
- the motor shaft 7 is a common motor shaft of a first electric motor 13 and a second electric motor 14.
- the device according to FIG. 1 is used in practice in order to impart a restoring force to the steering wheel 1 in the case of non-mechanically positively coupled steering systems.
- the two electric motors 3 and 4 are supplied with current so that they impress the shaft 2 with a torque directed into the central position of the steering.
- the strength of the torque can depend on the deviation of the steering angle from the central position and on various driving conditions. In any case, it should convey to the driver of the motor vehicle the steering reaction forces familiar from conventional mechanical steering.
- the electric motors 3 and 4 can also generate a torque that is directed in the direction of rotation pointing away from the central position. An excessive mechanical restoring torque is then partially compensated for, so that the steering becomes subjectively smoother.
- the two electric motors 3 and 4 or 13 and 14 are operated simultaneously, they each generate about 50% of the required torque, which in turn must at most correspond to the upper limit of the manual force of a conventional power steering.
- the electric motors 3 and 4 or 13 and 14 are designed for this maximum desired torque with regard to their continuous output.
- one of the two motors 3, 4, -13, 14 fails, this is immediately detected by sensors shown in more detail.
- the torque generated by the two motors can be monitored, which suddenly drops to half if one motor fails, or the electrical current consumption of both motors can be monitored, the failure of one motor being recognized by the loss of its electrical power consumption.
- the remaining electric motor 3, 4; 13, 14 impressed a higher drive power and thus a higher torque.
- the failure of one of the motors is thus compensated for within a very short time, so that the user does not notice this as a nuisance.
- the steering is prevented from tearing due to the sudden loss of the restoring torque.
- the remaining electric motor is brought into an operating state which, due to its - o -
- the restoring torque can then be brought to half the setpoint and thus to the value for which a single motor is designed over a certain time of a few seconds or minutes. This is noticeable as a gradually increasing smoothness of the steering, without appearing surprising or dangerous.
- the devices described so far can thus be used to simulate the steering reaction forces desired on a steering wheel of a motor vehicle, the relatively small size of the required electric motors saving space, weight and costs.
- an electrical fallback level is secured, which prevents dangerous driving conditions from occurring.
- a mechanical second fallback level can also be provided.
- the simulation of the steering reaction forces on the control side can use particularly comfort- or safety-oriented maps, the steering reaction forces on the steering wheel not having to have a necessary connection with those on the steered axle.
- a further possibility for the simulation of conventional steering gears is made possible if the gearbox between the shaft and the electric motors generates a rotation angle limitation against manual turning of the shaft by stopping the electric motors.
- the shaft which can be rotated as often as desired, can then, starting from the central position, which corresponds to driving straight ahead, after 1 to 2.5 revolutions against further rotation be blocked, giving the driver the impression of a mechanical stop.
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Abstract
Description
Redundante Vorrichtung zur Erzeugung von DrehmomentenRedundant device for generating torques
Die vorliegende Erfindung betrifft eine Vorrichtung zur Erzeugung eines Drehmoments an einer Welle mit den Merkmalen des Anspruchs 1 sowie ein Verfahren zum Betrieb einer Vorrichtung zur Erzeugung eines Drehmoments an einer Welle.The present invention relates to a device for generating a torque on a shaft with the features of claim 1 and a method for operating a device for generating a torque on a shaft.
Eine derartige Vorrichtung ist beispielsweise aus der EP 0854075 A2 bekannt. Dort ist eine Lenksäule dargestellt, die mechanisch nicht mit dem Lenkgetriebe eines Kraftfahrzeugs gekoppelt ist. Die Lenksäule mit dem daran befindlichen Lenkrad erfüllt die Funktion eines Sollwinkelgebers, über den der angestrebte Lenkeinschlag der gelenkten Räder des Kraftfahrzeugs eingestellt wird. Auf der Nehmerseite wird das Lenkgetriebe entsprechend dem eingestellten Sollwinkel angetrieben, so daß das Kraftfahrzeug eine Kurvenfahrt einleitet. Für ein sicheres Fahren ist erforderlich, daß der Fahrer über das Lenkrad Lenkreaktionskräfte wahrnimmt. Diese Lenkreaktionskräfte, die ein Maß für die Richtung und den Betrag des Radwinkeleinschlages darstellen, werden über einen Elektromotor in die Lenksäule eingeleitet, der als sogenannter Hand omentensteller bezeichnet wird. Bei einem Ausfall des Handmomentenstellers ist in der EP0854075 A2 vorgesehen, daß eine Torsionsfeder rein mechanisch eine gewisse Handkraft aufbringt, wobei die Lenkung in ihrer Mittellage kräftefrei ist.Such a device is known for example from EP 0854075 A2. A steering column is shown there, which is not mechanically coupled to the steering gear of a motor vehicle. The steering column with the steering wheel attached to it fulfills the function of a target angle transmitter, via which the desired steering angle of the steered wheels of the motor vehicle is set. On the slave side, the steering gear is driven in accordance with the set target angle, so that the motor vehicle initiates cornering. For a Safe driving requires that the driver perceive steering reaction forces via the steering wheel. These steering reaction forces, which represent a measure of the direction and the amount of the wheel angle, are introduced into the steering column via an electric motor, which is referred to as a so-called manual actuator. In the event of a failure of the manual torque adjuster, EP0854075 A2 provides that a torsion spring applies a certain amount of manual force purely mechanically, the steering being force-free in its central position.
Bei den bekannten Vorrichtungen ist problematisch, daß bei einem Ausfall des drehmomenterzeugenden Elektromotors der Betrag der Handkraft schlagartig von dem elektrisch erzeugten Wert auf den mechanisch vorgegebenen Wert der Feder umspringt und insbesondere bei Kurvenfahrt mit relativ hoher Handkraft ein Verreißen der Lenkung wahrscheinlich ist.In the known devices, it is problematic that in the event of a failure of the torque-generating electric motor, the amount of manual force suddenly changes from the electrically generated value to the mechanically predetermined value of the spring, and, particularly when cornering with a relatively high manual force, the steering is likely to snap.
Es ist deshalb Aufgabe der vorliegenden Erfindung, eine Vorrichtung zur Erzeugung von Drehmomenten in einer Lenkwelle zu schaffen, die elektrisch redundant ausgelegt ist und im Störungsfall das Handmoment nahezu ungestört aufrecht erhält.It is therefore an object of the present invention to provide a device for generating torques in a steering shaft, which is designed to be electrically redundant and maintains the hand torque almost undisturbed in the event of a fault.
Diese Aufgabe wird von einer Vorrichtung mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a device with the features of claim 1.
Weil vorgesehen ist, daß ein zweiter Elektromotor zur Erzeugung des Drehmoments auf dieselbe Welle wirkt, wobei der erste Elektromotor und der zweite Elektromotor jeweils einteilig einen Teil des Drehmoments erzeugen, kann über einen Vergleich des Drehmomentsollwertes mit dem Drehmomentistwert der Ausfall eines der beiden Elektromotoren sofort kompensiert werden, so daß bei idealer Auslegung eine Änderung der simulierten Lenkreaktionskräft nicht spürbar ist. Weiter ist bei der Vorrichtung vorteilhaft, daß beide Elektromotoren nur jeweils einen Teil der benötigten Leistung erbringen müssen, so daß sie jeweils kleiner ausgelegt werden können als bei Erzeugung des Drehmoments durch einen einzigen Elektromotor. Dabei ergeben sich besondere Kostenvorteile, wenn der erste und der zweite Elektromotor in diesen Dingen baugleich sind und im Betrieb jeweils annähernd gleiche Drehmomente erzeugen. Eine besonders vorteilhafte Applikation ergibt sich, wenn die Handhabungseinrichtung ein Lenkrad eines Kraftfahrzeugs ist. Auch für andere nicht mechanisch zwangsgekoppelte Stelleinrichtungen ergeben sich jedoch die erfindungsgemäßen Vorteile.Because it is provided that a second electric motor acts to generate the torque on the same shaft, the first electric motor and the second electric motor each producing one part of the torque, the failure of one of the two electric motors can be immediately compensated for by comparing the torque setpoint with the actual torque value be so that at ideal design a change in the simulated steering reaction forces is not noticeable. Another advantage of the device is that both electric motors only have to provide part of the power required, so that they can each be designed to be smaller than when the torque is generated by a single electric motor. This results in special cost advantages if the first and second electric motors are identical in these things and each generate approximately the same torques during operation. A particularly advantageous application results when the handling device is a steering wheel of a motor vehicle. However, the advantages according to the invention also result for other actuating devices that are not mechanically positively coupled.
Wenn die Elektromotoren derart dimensioniert sind, daß von ihnen jeweils einzeln in Normalbetrieb oder Dauerbetrieb nicht das maximal erforderliche Drehmoment erzeugbar ist, sie also an sich einzeln für die jeweilige Aufgabe unterdimensioniert wären, können sich besondere Vorteile hinsichtlich der Kosten der Elektromotoren und ihrer Ansteuerung, aber hinsichtlich der Wärmeentwicklung, des beanspruchten Bauraums und des Gewichts ergeben. Eine besonders einfache Konstruktion ergibt sich, wenn die Welle als gemeinsame Motorwelle des ersten und des zweiten Elektromotors ausgebildet ist. Schließlich können die Elektromotoren über ein Getriebe, insbesondere über ein Stirnradgetriebe, ein Schneckengetriebe oder ein Planetengetriebe auf die Welle wirken. Bei letzterem Getriebe können die Motoren auch trotz der Getriebeuntersetzung konzentrisch die Welle umgeben . Weil bei dem erfindungsgemäßen Vefahren zum Betrieb einer Vorrichtung zur Erzeugung eines Drehmoments an einer manuell über einer Handhabungseinrichtung zu betätigenden Welle mit zwei mittelbar oder unmittelbar auf die Welle wirkenden Elektromotoren vorgesehen ist, daß das Drehmoment durch simultanen Betrieb beider Motoren erzeugt wird, kann ein Ausfall eines der beiden Motoren sofort detektiert werden. Bei anderer Auslegung, wenn nämlich die Motoren abwechselnd betrieben würden oder ein Motor im Dauerbetrieb arbeitet, während der andere Motor das Reserveaggregat bildet, könnte der gerade nicht im Einsatz befindliche Elektromotor ausfallen, ohne daß dies unmittelbar bemerkt würde. Außerdem können zwei kleine, simultan arbeitende Elektromotoren im Sinne einer gleichmäßigen und mit geringer Welligkeit ansteigenden Drehmomenterzeugung besser geregelt werden als ein einzelner großer Motor.If the electric motors are dimensioned such that the maximum required torque cannot be generated individually in normal operation or continuous operation, i.e. they would be individually undersized for the respective task, there may be particular advantages with regard to the costs of the electric motors and their control, however result in terms of heat development, the space required and the weight. A particularly simple construction results if the shaft is designed as a common motor shaft of the first and the second electric motor. Finally, the electric motors can act on the shaft via a gear, in particular via a spur gear, a worm gear or a planetary gear. In the latter gear, the motors can also concentrically surround the shaft despite the gear reduction. Because in the method according to the invention for operating a device for generating a torque on a shaft to be actuated manually via a handling device with two electric motors acting directly or indirectly on the shaft, the torque is generated by simultaneous operation of both motors, a failure of one of the two motors can be detected immediately. With a different design, namely if the motors were operated alternately or one motor is in continuous operation while the other motor forms the reserve unit, the electric motor that is not currently in use could fail without this being immediately noticed. In addition, two small, simultaneously operating electric motors can be better controlled than a single large motor in the sense of a uniform torque generation that increases with little ripple.
Hierbei ist von Vorteil, wenn bei Ausfall eines Elektromotors der andere Elektromotor das erforderliche Drehmoment vollständig aufbringt. Die Änderung des Regelzustandes kann so schnell erfolgen, daß der Benutzer dies nicht bemerkt oder zumindest nicht als störend empfindet. Bei einer relativ kleinen Dimensionierung der Elektromotoren kann bei Ausfall eines Elektromotors der jeweils andere Elektromotor kurzzeitig in Überlast betrieben werden, so daß das Drehmoment auch dann zunächst nicht oder nur kurzzeitig abfällt. Dabei ist zur Schonung des in Funktion befindlichen Elektromotors von Vorteil, wenn der Überlastbetrieb dieses Elektromotors nur kurzfristig aufrecht erhalten bleibt und kontinuierlich auf einen Normalbetrieb übergeleitet wird, der ohne weiteres auf Dauer zu verkraften ist. An der Handhabungseinrichtung, insbesondere an einem Lenkrad, - -It is advantageous if the other electric motor completely applies the required torque if one electric motor fails. The change in the control state can take place so quickly that the user does not notice this or at least does not find it disturbing. In the case of a relatively small dimensioning of the electric motors, if one electric motor fails, the other electric motor can be operated briefly in overload, so that the torque then does not drop or only drops briefly. To protect the electric motor in operation, it is advantageous if the overload operation of this electric motor is only maintained for a short time and is continuously transferred to normal operation, which can be easily coped with over the long term. On the handling device, in particular on a steering wheel, - -
würde dieser Effekt durch einen allmählichen Abfall der Lenkreaktionskräfte auf 50 % des Normalwerts spürbar. Wenn dieser Übergang allmählich, beispielsweise innerhalb einiger Sekunden oder Minuten vor sich geht, ist dieser Übergang nicht störend und insbesondere nicht gefährlich hinsichtlich der Beherrschung des Kraftfahrzeugs.this effect would be felt by a gradual drop in steering reaction forces to 50% of normal. If this transition takes place gradually, for example within a few seconds or minutes, this transition is not disturbing and, in particular, is not dangerous with regard to the control of the motor vehicle.
Eine besonders günstige Anwendung der Vorrichtung oder des Verfahrens ergibt sich, wenn das Drehmoment einem über die Handhabungseinrichtung manuell auf die Welle eingeleiteten Drehmoment entgegengesetzt wird und insbesondere bei Lenksystemen ohne mechanische Zwangskopplung zwischen Handhabungseinrichtung und den gelenkten Rädern zu Simulation von Lenkkräften oder Lenkreaktionskräften dient. Hierbei kann die Größe des an der Handhabungseinrichtung anstehenden Drehmoments zuverlässig über die Stromaufnahme wenigstens eines Elektromotors ermittelt wwerden.A particularly favorable application of the device or the method results if the torque is opposed to a torque that is manually introduced onto the shaft via the handling device and is used in particular in steering systems without mechanical forced coupling between the handling device and the steered wheels to simulate steering forces or steering reaction forces. Here, the size of the torque applied to the handling device can be reliably determined via the current consumption of at least one electric motor.
Im folgenden wird ein Ausführungsbeispiel der vorliegenden Erfindung anhand der Zeichnung beschrieben. Es zeigen:An exemplary embodiment of the present invention is described below with reference to the drawing. Show it:
Figur 1 : eine erfindungsgemäße Vorrichtung zur Erzeugung von Lenkreaktionskräften mit konzentrischer Anordnung von zwei Elektromotoren um die Welle herum; sowieFigure 1: an inventive device for generating steering reaction forces with a concentric arrangement of two electric motors around the shaft; such as
Figur 2 : eine andere Ausführungsform, bei der zwei Elektromotoren über ein seitlich neben der Welle angeordnetes Schneckengetriebe auf die Welle einwirken.Figure 2: another embodiment in which two electric motors act on the shaft via a worm gear arranged laterally next to the shaft.
In der Figur 1 ist eine Lenksäule eines Kraftfahrzeugs mit einem Lenkrad 1 und einer über das Lenkrad zu betätigenden Welle 2 dargestellt. Die Welle 2 trägt einen hier nicht dargestellten Lenkwinkelsensor zur Ermittlung des Sollenkwinkels sowie gegebenenfalls eine mechanische Torsionsfeder zur mechanischen Rückstellung des Lenkrades 1 in die Mittellage.1 shows a steering column of a motor vehicle with a steering wheel 1 and a shaft 2 to be actuated via the steering wheel. The shaft 2 carries a steering angle sensor, not shown here, for the determination of the target angle and, if necessary, a mechanical torsion spring for mechanically returning the steering wheel 1 to the central position.
Weiter ist die Welle 2 mit einem ersten Elektromotor 3 und einem zweiten Elektromotor 4 versehen. Die Elektromotoren 3 und 4 sind über ein Stirnrädergetriebe mit der Welle 2 gekoppelt.Furthermore, the shaft 2 is provided with a first electric motor 3 and a second electric motor 4. The electric motors 3 and 4 are coupled to the shaft 2 via a spur gear.
Die Figur 2 zeigt eine andere Ausführungsform der vorliegenden Erfindung in einer Draufsicht in Axialrichtung auf die Welle 2. Die Welle 2 trägt hierbei ein drehfestes Schneckenrad 5, das über ein Ritzel 6 in Zwangskopplung mit einer Motorwelle 7 steht. Die Motorwelle 7 ist gemeinsame Motorwelle eines ersten Elektromotors 13 und eines zweiten Elektromotors 14.FIG. 2 shows another embodiment of the present invention in a plan view in the axial direction of the shaft 2. The shaft 2 here carries a non-rotatable worm wheel 5, which is positively coupled to a motor shaft 7 via a pinion 6. The motor shaft 7 is a common motor shaft of a first electric motor 13 and a second electric motor 14.
Die Vorrichtung gemäß Figur 1 wird in der Praxis eingesetzt, um bei nicht mechanisch zwangsgekoppelten Lenksystemen dem Lenkrad 1 eine Rückstellkraft aufzuprägen. Dazu werden bei einer Abweichung des Lenkrades 1 von der Mittellage, die der Geradeausstellung entspricht, die beiden Elektromotoren 3 und 4 mit Strom beaufschlagt, so daß sie der Welle 2 ein in die Mittellage der Lenkung gerichtetes Drehmoment aufprägen. Die Stärke des Drehmoments kann dabei von der Abweichung des Lenkwinkels von der Mittellage sowie von verschiedenen Fahrzuständen abhängen. Sie soll in jedem Fall dem Fahrer des Kraftfahrzeugs die von einer herkömmlichen mechanischen Lenkung gewohnten Lenkreaktionskräfte vermitteln. Sofern die Rückstellkraft der nicht dargestellten Torsionsfeder größer ist als das am Lenkrad 1 erwünschte Rückstellmoment, können die Elektromotoren 3 und 4 auch ein Drehmoment erzeugen, daß in die von der Mittellage weg weisende Drehrichtung gerichtet ist. Hierbei wird dann ein zu starkes mechanisches Rückstellmoment teilweise kompensiert, so daß die Lenkung subjektiv leichtgängiger wird.The device according to FIG. 1 is used in practice in order to impart a restoring force to the steering wheel 1 in the case of non-mechanically positively coupled steering systems. For this purpose, in the event of a deviation of the steering wheel 1 from the central position, which corresponds to the straight-ahead position, the two electric motors 3 and 4 are supplied with current so that they impress the shaft 2 with a torque directed into the central position of the steering. The strength of the torque can depend on the deviation of the steering angle from the central position and on various driving conditions. In any case, it should convey to the driver of the motor vehicle the steering reaction forces familiar from conventional mechanical steering. If the restoring force of the torsion spring, not shown, is greater than the restoring torque desired on the steering wheel 1, the electric motors 3 and 4 can also generate a torque that is directed in the direction of rotation pointing away from the central position. An excessive mechanical restoring torque is then partially compensated for, so that the steering becomes subjectively smoother.
Da die beiden Elektromotoren 3 und 4 bzw. 13 und 14 simultan betrieben werden, erzeugen sie jeweils etwa 50 % des erforderlichen Drehmoments, das wiederum maximal den oberen Grenzwert der Handkraft einer üblichen Servolenkung entsprechen muß. Für dieses maximale Solldrehmoment sind die Elektromotoren 3 und 4 bzw. 13 und 14 hinsichtlich ihrer Dauerleistung ausgelegt.Since the two electric motors 3 and 4 or 13 and 14 are operated simultaneously, they each generate about 50% of the required torque, which in turn must at most correspond to the upper limit of the manual force of a conventional power steering. The electric motors 3 and 4 or 13 and 14 are designed for this maximum desired torque with regard to their continuous output.
Fällt nun einer der beiden Motoren 3, 4,-13, 14 aus, so wird dies über näher dargestellte Sensoren unmittelbar detektiert. Beispielsweise kann das von den beiden Motoren erzeugte Drehmoment überwacht werden, das bei Ausfall eines Motors plötzlich auf die Hälfte abfällt, oder es kann die elektrische Stromaufnahme beider Motoren überwacht werden, wobei der Ausfall eines Motors durch den Wegfall seiner elektrischen Leistungsaufnahme erkennbar wird. In diesem Fall soll verhindert werden, daß die Lenkreaktionskräft schlagartig halbiert wird. Dazu wird dem verbleibenden Elektromotor 3, 4; 13, 14 eine höhere Antriebsleistung und damit ein höheres Drehmoment aufgeprägt. Der Ausfall eines der Motoren wird damit innerhalb kürzester Zeit kompensiert, so daß der Benutzer dies nicht störend wahrnimmt. Insbesondere wird bei hohen Lenkreaktionskräften wie bei schneller Kurvenfahrt ein Verreißen der Lenkung durch den plötzlichen Wegfall des Rückstellmoments verhindert.If one of the two motors 3, 4, -13, 14 fails, this is immediately detected by sensors shown in more detail. For example, the torque generated by the two motors can be monitored, which suddenly drops to half if one motor fails, or the electrical current consumption of both motors can be monitored, the failure of one motor being recognized by the loss of its electrical power consumption. In this case, it should be prevented that the steering reaction force is suddenly halved. For this purpose, the remaining electric motor 3, 4; 13, 14 impressed a higher drive power and thus a higher torque. The failure of one of the motors is thus compensated for within a very short time, so that the user does not notice this as a nuisance. In particular with high steering reaction forces such as when cornering quickly, the steering is prevented from tearing due to the sudden loss of the restoring torque.
Der verbleibende Elektromotor wird hierbei in einen Betriebszustand gebracht, der aufgrund seiner — o —The remaining electric motor is brought into an operating state which, due to its - o -
Dimensionierung nur kurzzeitig zulässig ist. Das Rückstellmoment kann dann über eine gewisse Zeit von einigen Sekunden oder Minuten auf die Hälfte des Sollwertes und damit auf den Wert gebracht werden, für den ein einzelner Motor ausgelegt ist. Dies macht sich als allmählich zunehmende Leichtgängigkeit der Lenkung bemerkbar, ohne jedoch überraschend oder gefährlich zu wirken.Dimensioning is only permitted for a short time. The restoring torque can then be brought to half the setpoint and thus to the value for which a single motor is designed over a certain time of a few seconds or minutes. This is noticeable as a gradually increasing smoothness of the steering, without appearing surprising or dangerous.
Die insoweit beschriebenen Vorrichtungen können also zur Simulation der an einem Lenkrad eines Kraftfahrzeugs erwünschten Lenkreaktionskräfte dienen, wobei die relativ kleine Baugröße der erforderlichen Elektromotoren Bauraum, Gewicht und Kosten spart. Bei einem Ausfall eines der beiden Elektromotoren ist eine elektrische Rückfallebene gesichert, die das Eintreten gefährlicher Fahrzustände verhindert. Eine mechanische zweite Rückfallebene kann ebenfalls vorgesehen sein. Schließlich kann die Simulation der Lenkreaktionskräfte regelungsseitig auf besonders komfort- oder sicherheitsorientierte Kennfelder zurückgreifen, wobei die Lenkreaktionskräfte am Lenkrad keinen notwendigen Zusammenhang mit denjenigen an der gelenkten Achse haben müssen.The devices described so far can thus be used to simulate the steering reaction forces desired on a steering wheel of a motor vehicle, the relatively small size of the required electric motors saving space, weight and costs. In the event of a failure of one of the two electric motors, an electrical fallback level is secured, which prevents dangerous driving conditions from occurring. A mechanical second fallback level can also be provided. Finally, the simulation of the steering reaction forces on the control side can use particularly comfort- or safety-oriented maps, the steering reaction forces on the steering wheel not having to have a necessary connection with those on the steered axle.
Eine weitergehende Möglichkeit zur Simulation von herkömmlichen Lenkgetrieben wird ermöglicht, wenn über das Getriebe zwischen der Welle und den Elektromotoren eine Drehwinkelbegrenzung gegen manuelles Weiterdrehen der Welle durch Stoppen der Elektromotoren erzeugt wird. Die an sich beliebig oft drehbare Welle kann dann ausgehend von der Mittellage, die der Geradeausfahrt entspricht, nach 1 bis 2,5 Umdrehungen gegen Weiterdrehen blockiert werden, wodurch der Fahrer den Eindruck eines mechanischen Anschlag erhält. A further possibility for the simulation of conventional steering gears is made possible if the gearbox between the shaft and the electric motors generates a rotation angle limitation against manual turning of the shaft by stopping the electric motors. The shaft, which can be rotated as often as desired, can then, starting from the central position, which corresponds to driving straight ahead, after 1 to 2.5 revolutions against further rotation be blocked, giving the driver the impression of a mechanical stop.
Claims
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000594687A JP2002535192A (en) | 1999-01-22 | 2000-01-17 | Torque generating device and driving method thereof |
| EP00909075A EP1062143A1 (en) | 1999-01-22 | 2000-01-17 | Redundant device for producing torques |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE1999102557 DE19902557A1 (en) | 1999-01-22 | 1999-01-22 | Redundant arrangement for generating torque has essentially identical first and second electric motors that both act on steering shaft to generate part of the torque |
| DE19902557.6 | 1999-01-22 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2000043251A1 true WO2000043251A1 (en) | 2000-07-27 |
Family
ID=7895135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2000/000311 Ceased WO2000043251A1 (en) | 1999-01-22 | 2000-01-17 | Redundant device for producing torques |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1062143A1 (en) |
| JP (1) | JP2002535192A (en) |
| DE (1) | DE19902557A1 (en) |
| WO (1) | WO2000043251A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002060741A1 (en) * | 2001-01-19 | 2002-08-08 | Daimlerchrysler Ag | Steering system for non-guided vehicles |
| WO2003053763A1 (en) * | 2001-12-11 | 2003-07-03 | Thyssenkrupp Presta Steertec Gmbh | Steering mechanism with powered planetary gear system for the production of a specific hand torque on the steering wheel |
| WO2003095289A1 (en) * | 2002-05-14 | 2003-11-20 | Toyota Jidosha Kabushiki Kaisha | Motor vehicle control device |
| WO2004018277A1 (en) * | 2002-08-07 | 2004-03-04 | Thyssenkrupp Presta Steertec Gmbh | Motor vehicle steering system with superimposed steering system |
| US9956101B2 (en) | 2014-12-04 | 2018-05-01 | Trivascular, Inc. | Internal iliac preservation devices and methods |
| US11192575B2 (en) | 2018-01-24 | 2021-12-07 | Thyssenkrupp Presta Ag | Steering column for a motor vehicle |
| US20240351631A1 (en) * | 2021-10-14 | 2024-10-24 | Robert Bosch Gmbh | Steering Column for a Steer-by-Wire Steering System |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10053714A1 (en) * | 2000-10-28 | 2002-05-02 | Zahnradfabrik Friedrichshafen | steering system |
| DE10103667A1 (en) * | 2001-01-27 | 2002-08-01 | Bosch Gmbh Robert | Actuator for a steer-by-wire steering system |
| DE10200826C1 (en) * | 2002-01-11 | 2003-05-15 | Autoliv Dev | Steering module for steer-by-wire system for motor vehicle is fitted as prefabricated unit in vehicle accommodation space while making electrical connections between vehicle and module |
| US7014008B2 (en) * | 2002-06-27 | 2006-03-21 | Honda Giken Kogyo Kabushiki Kaisha | Steering system for vehicle |
| DE10329292A1 (en) * | 2003-06-30 | 2005-01-20 | Zf Lenksysteme Gmbh | Device for generating a torque |
| US8589029B2 (en) | 2005-11-30 | 2013-11-19 | Svend Egenfeldt | Remote control system |
| CN101700786B (en) * | 2009-11-09 | 2012-08-29 | 南京航空航天大学 | Recirculating-ball electric power-assisted steering system with variable transmission ratio for bus and control method thereof |
| DE102013014122A1 (en) * | 2013-08-23 | 2015-02-26 | Audi Ag | steering stop |
| DE102015117614B4 (en) * | 2015-10-16 | 2024-06-27 | Robert Bosch Gmbh | Method for operating a permanent magnet synchronous machine, in particular a servo motor in a steering system |
| DE102017109081A1 (en) | 2017-04-27 | 2018-10-31 | Paravan Gmbh | Steering module for a vehicle and steering system |
| CN107444470A (en) * | 2017-07-31 | 2017-12-08 | 苏州润贤峰汽车部件有限公司 | A kind of automobile machinery steering |
| DE102018201001A1 (en) * | 2018-01-23 | 2019-07-25 | Robert Bosch Gmbh | Steer-by-wire steering device |
| DE102019200908A1 (en) | 2019-01-24 | 2020-07-30 | Thyssenkrupp Ag | Steering column for a steer-by-wire steering system for a motor vehicle |
| DE102019118476A1 (en) * | 2019-07-09 | 2021-01-14 | Schaeffler Technologies AG & Co. KG | Hand force actuator with a variety of drag motors |
| DE112021002575T5 (en) * | 2021-03-31 | 2023-04-06 | Honda Motor Co., Ltd. | Steering system for vehicle |
| DE112021008252T5 (en) * | 2021-09-22 | 2024-08-01 | Honda Motor Co., Ltd. | Method for controlling a motor vehicle steering system with increased maximum output power of the actuator after unilateral failure of the redundant system |
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- 1999-01-22 DE DE1999102557 patent/DE19902557A1/en not_active Withdrawn
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- 2000-01-17 JP JP2000594687A patent/JP2002535192A/en active Pending
- 2000-01-17 WO PCT/EP2000/000311 patent/WO2000043251A1/en not_active Ceased
- 2000-01-17 EP EP00909075A patent/EP1062143A1/en not_active Withdrawn
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| US5068584A (en) * | 1988-11-29 | 1991-11-26 | Regie Nationale Des Usines Renault | Auxiliary device for handling failures of an actuating system of a linear electric actuator |
| EP0854075A2 (en) * | 1997-01-21 | 1998-07-22 | Koyo Seiko Co., Ltd. | Steering apparatus for a vehicle. |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002060741A1 (en) * | 2001-01-19 | 2002-08-08 | Daimlerchrysler Ag | Steering system for non-guided vehicles |
| WO2003053763A1 (en) * | 2001-12-11 | 2003-07-03 | Thyssenkrupp Presta Steertec Gmbh | Steering mechanism with powered planetary gear system for the production of a specific hand torque on the steering wheel |
| WO2003095289A1 (en) * | 2002-05-14 | 2003-11-20 | Toyota Jidosha Kabushiki Kaisha | Motor vehicle control device |
| US7178613B2 (en) | 2002-05-14 | 2007-02-20 | Toyota Jidosha Kabushiki Kaisha | Vehicle operating apparatus |
| KR100709772B1 (en) * | 2002-05-14 | 2007-04-19 | 도요다 지도샤 가부시끼가이샤 | Vehicle controls |
| CN100343107C (en) * | 2002-05-14 | 2007-10-17 | 丰田自动车株式会社 | vehicle controls |
| WO2004018277A1 (en) * | 2002-08-07 | 2004-03-04 | Thyssenkrupp Presta Steertec Gmbh | Motor vehicle steering system with superimposed steering system |
| US9956101B2 (en) | 2014-12-04 | 2018-05-01 | Trivascular, Inc. | Internal iliac preservation devices and methods |
| US11192575B2 (en) | 2018-01-24 | 2021-12-07 | Thyssenkrupp Presta Ag | Steering column for a motor vehicle |
| US20240351631A1 (en) * | 2021-10-14 | 2024-10-24 | Robert Bosch Gmbh | Steering Column for a Steer-by-Wire Steering System |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2002535192A (en) | 2002-10-22 |
| EP1062143A1 (en) | 2000-12-27 |
| DE19902557A1 (en) | 2000-07-27 |
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