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WO2002034609A1 - Steering system - Google Patents

Steering system Download PDF

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Publication number
WO2002034609A1
WO2002034609A1 PCT/EP2001/012263 EP0112263W WO0234609A1 WO 2002034609 A1 WO2002034609 A1 WO 2002034609A1 EP 0112263 W EP0112263 W EP 0112263W WO 0234609 A1 WO0234609 A1 WO 0234609A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
actuator
electric motor
handwheel
stop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2001/012263
Other languages
German (de)
French (fr)
Inventor
Johannes Kaltenbach
Volker Bachmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of WO2002034609A1 publication Critical patent/WO2002034609A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications

Definitions

  • the invention relates to a steering system according to the type defined in more detail in the preamble of claim 1.
  • Steering systems that work on the steer-by-wire principle differ from conventional steering systems in that there is no mechanical connection between the steering handwheel and the steered wheel.
  • the torque delivered by the conventional steering systems via the steering column to the steering handwheel is eliminated.
  • the steering feeling previously determined by the road surface, the tires, the chassis and the transmission behavior of the steering system is alternatively generated by a steering wheel actuator.
  • the forces or torques in the steering linkage of the steered wheels, which are detected by one or more force / torque sensors, are forwarded to a central control unit.
  • a steering wheel actuator depending on the respective operating state, provides the driver with a reaction which is similar to that which occurs in a conventional steering system Forces and torques.
  • force / torque sensors in the steering linkage of the steered wheels deliver force signals which are proportional to the steering forces occurring on the steered wheels.
  • the forces / torques that occur are recorded, evaluated by a control unit and forwarded to the steering handwheel actuator for generating torque on the steering handwheel.
  • the steering handwheel actuator is activated in such a way that the rotational resistance or torque curve perceived by the driver corresponds to that which is experienced by a conventional steering system with the same force / torque action in the steering linkage would have been caused.
  • the steering handwheel actuator has at least one electric motor, which, due to the lack of a mechanical connection between the steering handwheel and the steered wheels, is used to produce an artificial steering feel. In this way, at least theoretically, any steering ratio between the steering handwheel and the steered wheels can be represented.
  • DE 36 04 396 C2 is known from the prior art, which describes an electrical servo system in which, when steering near the maximum steering angle, the auxiliary torque generated by an electric motor is reduced in order to avoid damage to the electric motor.
  • the servo system has an electromagnetic clutch device for transmitting the auxiliary torque generated by the electric motor and a reduction gear for transmitting the auxiliary torque generated by the electric motor to the electromagnetic clutch device in order to reduce its speed.
  • Fatigue strength and reliability can be classified as critical.
  • the present invention has for its object to provide a steering system that does not require a mechanical end stop and can be individually adapted to the requirements of different drivers without much effort.
  • the object on which the invention is based is achieved by a generic steering system which also has the characterizing features of the main claim.
  • the steering stop is characterized by a steep increase in the torque gradient on the steering handwheel.
  • the torque on the steering handwheel must increase to the full torque of the electric motor within a maximum angle of rotation of 10 degrees on the steering handwheel.
  • Decisive for the correct implementation of the artificially generated steering stop is a maximum jump in the torque of the steering handwheel at the steering stop and the increase in torque on the steering handwheel within a maximum angle of rotation of 10 degrees on the steering handwheel to the maximum torque of the electric motor.
  • a steering angle is applied to the steering handwheel
  • Target wheel lock set and implemented by a separate actuator on the steered wheel, so that the vehicle follows the steering request specified by the driver and takes the desired direction of travel. If the steering handwheel reaches the artificially generated steering stop, the target wheel lock is not increased even if the steering handwheel is turned further against the increasing resistance of the electric motor. This prevents impermissibly large wheel turning angles.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention relates to a steering system, comprising at least one steering actuator and at least one steering wheel actuator which are interconnected by a control circuit. Said steering wheel actuator has a steering wheel and at least one electromotor, this electromotor being used both to produce steering sensitivity and for representing a steering stop.

Description

Lenksystem steering system

Die Erfindung betrifft ein Lenksystem nach der im 0- berbegriff von Anspruch 1 näher definierten Art.The invention relates to a steering system according to the type defined in more detail in the preamble of claim 1.

Lenksysteme, die nach dem steer-by-wire-Prinzip arbeiten, unterscheiden sich von konventionellen Lenksystemen dadurch, daß keine mechanische Verbindung zwischen dem Lenkhandrad und dem gelenkten Rad besteht. Durch die Auftrennung des Lenksystems fällt das von den konventionellen Lenksystemen über die Lenksäule an das Lenkhandrad gelieferte Drehmoment weg. Das bisher von der Fahrbahn, den Reifen, dem Fahrwerk und dem Übertragungsverhalten des Lenk- Systems bestimmte Lenkgefühl wird ersatzweise durch einen Lenkradaktuator erzeugt. Die durch einen oder mehrere Kraft-/Drehmomentsensoren erfaßten Kräfte oder Drehmomente im Lenkgestänge der gelenkten Räder werden an eine zentrale Steuereinheit weitergeleitet, über einen Lenkradaktuator wird dem Fahrer in Abhängigkeit des jeweiligen Betriebszu- standes eine Rückwirkung weitergegeben, die ähnlich den bei einem konventionellen Lenksystem auftretenden Kräften und Drehmomenten ist. Im F hrbetrieb liefern Kraf -/Drehmomentsensoren im Lenkge- stänge der gelenkten Räder Kraftsignale, die proportional zu den an den gelenkten Rädern auftretenden Lenkkräften sind. Die auftretenden Kräfte/Drehmomente werden erfaßt, von einer Steuereinheit ausgewertet und an den Lenkhandradaktuator zur Drehmomenterzeugung am Lenkhandrad weiterge- leitet. Die Ansteuerung des Lenkhandradaktuators erfolgt derart, daß der vom Fahrer wahrgenommene Drehwiderstand bzw. Drehmomentverlauf demjenigen entspricht, der von einem konventionellen Lenksystem bei gleicher Kraft-/Drehmoment- einwirkung im Lenkgestänge hervorgerufen worden wäre. Dazu weist der Lenkhandradaktuator mindestens einen Elektromotor auf, der durch das Fehlen der mechanischen Verbindung zwischen dem Lenkhandrad und den gelenkten Rädern zur Erzeu- gung eines künstlichen Lenkgefühls verwendet wird. Dadurch ist, zumindest theoretisch, jede Lenkübersetzung zwischen Lenkhandrad und gelenkten Rädern darstellbar.Steering systems that work on the steer-by-wire principle differ from conventional steering systems in that there is no mechanical connection between the steering handwheel and the steered wheel. By separating the steering system, the torque delivered by the conventional steering systems via the steering column to the steering handwheel is eliminated. The steering feeling previously determined by the road surface, the tires, the chassis and the transmission behavior of the steering system is alternatively generated by a steering wheel actuator. The forces or torques in the steering linkage of the steered wheels, which are detected by one or more force / torque sensors, are forwarded to a central control unit. A steering wheel actuator, depending on the respective operating state, provides the driver with a reaction which is similar to that which occurs in a conventional steering system Forces and torques. In driving mode, force / torque sensors in the steering linkage of the steered wheels deliver force signals which are proportional to the steering forces occurring on the steered wheels. The forces / torques that occur are recorded, evaluated by a control unit and forwarded to the steering handwheel actuator for generating torque on the steering handwheel. The steering handwheel actuator is activated in such a way that the rotational resistance or torque curve perceived by the driver corresponds to that which is experienced by a conventional steering system with the same force / torque action in the steering linkage would have been caused. For this purpose, the steering handwheel actuator has at least one electric motor, which, due to the lack of a mechanical connection between the steering handwheel and the steered wheels, is used to produce an artificial steering feel. In this way, at least theoretically, any steering ratio between the steering handwheel and the steered wheels can be represented.

Aus dem Stand der Technik ist die DE 36 04 396 C2 be~ kannt, die ein elektrisches Servoienksystem beschreibt, bei dem beim Lenken in der Nähe des maximalen Lenkwinkels das durch einen Elektromotor erzeugte Hilfsdrehmoment reduziert wird, um eine Beschädigung des Elektromotors zu vermeiden. Dazu weist das Servoienksystem eine elektromagnetische Kupplungseinrichtung zur Übertragung des vom Elektromotor erzeugten Hilfsdrehmomentes und ein Untersetzungsgetriebe zur Übertragung des vom Elektromotor erzeugten Hilfsdrehmomentes auf die elektromagnetische Kupplungseinrichtung auf, um deren Drehzahl zu verringern.DE 36 04 396 C2 is known from the prior art, which describes an electrical servo system in which, when steering near the maximum steering angle, the auxiliary torque generated by an electric motor is reduced in order to avoid damage to the electric motor. For this purpose, the servo system has an electromagnetic clutch device for transmitting the auxiliary torque generated by the electric motor and a reduction gear for transmitting the auxiliary torque generated by the electric motor to the electromagnetic clutch device in order to reduce its speed.

Nachteilig ist hierbei, daß der Endanschlag mechanisch ausgebildet ist, so daß er sich nicht ohne weiteres auf geänderte Anforderungen einstellen läßt. Des weiteren benötigt dieser mechanische Endanschlag relativ viel Einbauraum und ist durch die Vielzahl an Einzelteilen hinsichtlichThe disadvantage here is that the end stop is designed mechanically, so that it cannot be easily adjusted to changing requirements. Furthermore, this mechanical end stop requires a relatively large amount of installation space and is due to the large number of individual parts

Dauerfestigkeit und Zuverlässigkeit als kritisch einzustufen .Fatigue strength and reliability can be classified as critical.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Lenksystem darzustellen, das ohne mechanischen Endanschlag auskommt und individuell an die Erfordernisse von verschiedenen Fahrern ohne großen Aufwand angepaßt werden kann. Die der Erfindung zugrundeliegende Aufgabe wird durch ein, auch die kennzeichnenden Merkmale des Hauptanspruchs aufweisendes, gattungsgemäßes Lenksystem gelöst.The present invention has for its object to provide a steering system that does not require a mechanical end stop and can be individually adapted to the requirements of different drivers without much effort. The object on which the invention is based is achieved by a generic steering system which also has the characterizing features of the main claim.

Die Lösung der Aufgabe erfolgt insbesondere dadurch, daß der mechanische Lenkanschlag durch einen von einem E- lektromotor erzeugten, künstlichen Lenkanschlag ersetzt wird. Dadurch ist jede gewünschte Lenkübersetzung zwischen Lenkhandrad und gelenkten Rädern darstellbar. Somit ist auch möglich, für jeden Fahrer individuelle Lenkübersetzungen einzustellen, wodurch sich eine unterschiedliche Anzahl von Lenkhandradumdrehungen vom Lenkanschlag der einen Seite zum Lenkanschlag der anderen Seite ergeben. Um diese individuellen Einstellmöglichkeiten nicht einzu- schränken, wird auf einen mechanischen Lenkanschlag desThe problem is solved in particular by replacing the mechanical steering stop with an artificial steering stop generated by an electric motor. This enables any desired steering ratio between the steering handwheel and the steered wheels to be represented. It is thus also possible to set individual steering ratios for each driver, which results in a different number of steering handwheel rotations from the steering stop on one side to the steering stop on the other side. In order not to limit these individual setting options, a mechanical steering stop of the

Lenkhandrades verzichtet. Damit bleibt die Freiheit erhalten, für jeden Fahrer oder für jedes Fahrverhalten eine unterschiedliche Lenkübersetzung zu wählen. Um dem Fahrer das gleiche Gefühl wie bei einer konventionellen Lenkung zu vermitteln, wird zum Lenkanschlag hin das Drehmoment amSteering hand wheel waived. This leaves the freedom to choose a different steering ratio for each driver or driving style. In order to give the driver the same feeling as with conventional steering, the torque is added to the steering stop

Lenkhandrad so weit wie möglich abgesenkt. Der Lenkanschlag zeichnet sich durch einen steilen Anstieg des Drehmomentgradienten am Lenkhandrad aus. Das Drehmoment am Lenkhandrad muß innerhalb von maximal 10 Grad Verdrehwinkel am Lenkhandrad auf das volle Drehmoment des Elektromotors ansteigen. Entscheidend für die richtige Umsetzung des künstlich erzeugten Lenkanschlags ist ein maximaler Sprung des Drehmomentes des Lenkhandrades am Lenkanschlag sowie das Ansteigen des Drehmomentes am Lenkhandrad innerhalb von maximal 10 Grad Verdrehwinkel am Lenkhandrad auf das maximale Drehmoment des Elektromotors. Die Erfindung wird anhand eines Ausführungsbeispieles näher erläutert.Steering handwheel lowered as far as possible. The steering stop is characterized by a steep increase in the torque gradient on the steering handwheel. The torque on the steering handwheel must increase to the full torque of the electric motor within a maximum angle of rotation of 10 degrees on the steering handwheel. Decisive for the correct implementation of the artificially generated steering stop is a maximum jump in the torque of the steering handwheel at the steering stop and the increase in torque on the steering handwheel within a maximum angle of rotation of 10 degrees on the steering handwheel to the maximum torque of the electric motor. The invention is explained in more detail using an exemplary embodiment.

Bei einem erfindungsgemäßen Lenksystem wird im steer- by-wire-Betrieb über einen Lenkwinkel am Lenkhandrad einIn a steering system according to the invention, in steer-by-wire operation, a steering angle is applied to the steering handwheel

Soll-Radeinschlag vorgegeben und durch ein separates Stellglied am gelenkten Rad umgesetzt, so daß das Fahrzeug dem vom Fahrer vorgegebenen Lenkwunsch folgt und die gewünschte Fahrtrichtung einschlägt. Erreicht das Lenkhandrad den künstlich erzeugten Lenkanschlag, wird der Soll-Radeinschlag nicht weiter erhöht, selbst wenn das Lenkhandrad entgegen dem zunehmenden Widerstand des Elektromotors weitergedreht wird. Auf diese Weise wird verhindert, daß unzulässig große Radeinschlagswinkel entstehen. Target wheel lock set and implemented by a separate actuator on the steered wheel, so that the vehicle follows the steering request specified by the driver and takes the desired direction of travel. If the steering handwheel reaches the artificially generated steering stop, the target wheel lock is not increased even if the steering handwheel is turned further against the increasing resistance of the electric motor. This prevents impermissibly large wheel turning angles.

Claims

P a t e n t a n s p r ü c h e Patent claims 1. Lenksystem mit mindestens einem Lenkaktuator und mindestens einem Lenkhandradaktuator, die über einen Regelkreis miteinander verbunden sind, wobei der Lenkhandradaktuator ein Lenkhandrad und mindestens einen Elektromotor aufweist, dadurch g e k e n n z e i c h n e t , daß der Elektromotor neben der Erzeugung eines Lenkgefühls zur DarStellung eines Lenkanschlages verwendet wird.1.steering system with at least one steering actuator and at least one steering handwheel actuator, which are connected to one another via a control circuit, the steering handwheel actuator having a steering handwheel and at least one electric motor, characterized in that the electric motor is used in addition to generating a steering feeling to represent a steering stop. 2. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß zum Lenkanschlag hin das Drehmoment am Lenkhandrad so weit wie möglich abgesenkt wird.2. Steering system according to claim 1, characterized in that the torque on the steering handwheel is lowered as far as possible towards the steering stop. 3. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß am Lenkanschlag das Drehmoment am Lenkhandrad maximal ist und innerhalb von einem maximalen Lenkwinkel von 10 Grad am Lenkhandrad auf das maximale Drehmoment des Elektromotors ansteigt.3. Steering system according to claim 1, characterized in that the torque at the steering stop is maximum at the steering stop and increases within a maximum steering angle of 10 degrees on the steering handwheel to the maximum torque of the electric motor. 4. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkanschlag fahrer- und fahr- zustandsabhängig eingestellt werden kann.4. Steering system according to claim 1, characterized in that the steering stop can be adjusted as a function of the driver and the driving state. 5. Lenksystem nach Anspruch 1, dadurch g e k e n z e i c h n e t , daß der Lenkaktuator einen Elektromotor aufweist, der über einen Kugelumlaufmechanismus auf eine Schubstange wirkt. 5. Steering system according to claim 1, characterized in that the steering actuator has an electric motor which acts on a push rod via a recirculating ball mechanism. 6. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkaktuator mindestens einen Elektromotor aufweist, der über ein Antriebsritzel auf eine Zahnstange wirkt.6. Steering system according to claim 1, characterized in that the steering actuator has at least one electric motor which acts on a toothed rack via a drive pinion. 7. Lenksystem nach Anspruch 1 oder 6, dadurch g e k e n n z e i c h n e t , daß der Elektromotor des Lenkradaktuators ein Asynchronmotor ist.7. Steering system according to claim 1 or 6, characterized g e k e n n z e i c h n e t that the electric motor of the steering wheel actuator is an asynchronous motor. 8. Lenksystem nach Anspruch 1, dadurch g e k e n n z e i c h n e t , daß der Lenkaktuator ein Proportional- ventil aufweist, das einen Arbeitskolben steuert. 8. Steering system according to claim 1, characterized in that the steering actuator has a proportional valve which controls a working piston.
PCT/EP2001/012263 2000-10-28 2001-10-24 Steering system Ceased WO2002034609A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000153714 DE10053714A1 (en) 2000-10-28 2000-10-28 steering system
DE10053714.6 2000-10-28

Publications (1)

Publication Number Publication Date
WO2002034609A1 true WO2002034609A1 (en) 2002-05-02

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Family Applications (1)

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PCT/EP2001/012263 Ceased WO2002034609A1 (en) 2000-10-28 2001-10-24 Steering system

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DE (1) DE10053714A1 (en)
WO (1) WO2002034609A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1332946A3 (en) * 2002-02-05 2004-04-14 Delphi Technologies, Inc. Hand wheel actuator
US7325644B2 (en) 2002-10-11 2008-02-05 Jtekt Corporation Steering control device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10221721B4 (en) * 2002-05-16 2011-02-17 Bayerische Motoren Werke Aktiengesellschaft Motor vehicle with a steering system and a stop for limiting the maximum steering angle
JP4425687B2 (en) * 2004-04-08 2010-03-03 本田技研工業株式会社 Steering device

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EP0522924A1 (en) * 1991-07-12 1993-01-13 Sextant Avionique Rotary actuator for generating a resistive torque having an adaptive response characteristic on the steering wheel of a control system
US5247441A (en) * 1990-09-25 1993-09-21 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
DE19605553C1 (en) * 1996-02-15 1997-08-21 Daimler Benz Ag Steering system for multi-lane motor vehicles
DE19842624A1 (en) * 1998-09-17 2000-04-06 Daimler Chrysler Ag Operating method for vehicle steering system that can be used in normal or emergency operating mode

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DE19834868B4 (en) * 1998-08-01 2007-10-18 Robert Bosch Gmbh Steering wheel actuator for steer-by-wire application in motor vehicles
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DE19902557A1 (en) * 1999-01-22 2000-07-27 Mercedes Benz Lenkungen Gmbh 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
DE19908832A1 (en) * 1999-03-01 2000-09-07 Volkswagen Ag Steering device for vehicles
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US5247441A (en) * 1990-09-25 1993-09-21 Honda Giken Kogyo Kabushiki Kaisha Vehicle steering control system
EP0522924A1 (en) * 1991-07-12 1993-01-13 Sextant Avionique Rotary actuator for generating a resistive torque having an adaptive response characteristic on the steering wheel of a control system
DE19605553C1 (en) * 1996-02-15 1997-08-21 Daimler Benz Ag Steering system for multi-lane motor vehicles
DE19842624A1 (en) * 1998-09-17 2000-04-06 Daimler Chrysler Ag Operating method for vehicle steering system that can be used in normal or emergency operating mode

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1332946A3 (en) * 2002-02-05 2004-04-14 Delphi Technologies, Inc. Hand wheel actuator
US6799654B2 (en) 2002-02-05 2004-10-05 Delphi Technologies, Inc. Hand wheel actuator
US7325644B2 (en) 2002-10-11 2008-02-05 Jtekt Corporation Steering control device

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