Search

KR-102962471-B1 - ASSIST CONTROL APPARATUS AND METHOD OF MOTOR DRIVEN POWER STEERING SYSTEM

KR102962471B1KR 102962471 B1KR102962471 B1KR 102962471B1KR-102962471-B1

Abstract

The present invention relates to a compensation control device for an electric power steering system comprising a steering intention determination module that calculates a steering intention ratio of a driver according to an increase in grip detection force measured from a pressure sensor, and a steering intention damping module that generates a damping torque gain corresponding to the steering intention ratio and reflects it in the damping torque generation value of a damping module. According to the present invention, steering assistance by the MDPS can actively reflect the driver's will.

Inventors

  • 김찬중

Assignees

  • 현대자동차주식회사
  • 기아 주식회사

Dates

Publication Date
20260508
Application Date
20200116

Claims (15)

  1. A steering intention determination module that calculates the driver's steering intention ratio according to the increase in grip detection force measured by a pressure sensor; and It includes a steering intention damping module that generates a damping torque gain corresponding to the above steering intention ratio and reflects it in the damping torque generation value of the damping module, The steering intention damping module reflects the damping torque gain by multiplying it by the damping torque generation value, and Characterized by generating the damping torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the damping torque gain as 0 to 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control device of an electric power steering system.
  2. In claim 1, The steering intention determination module is characterized by calculating the steering intention ratio according to the steering torque or steering angular velocity. Compensation control device of an electric power steering system.
  3. delete
  4. In claim 1, The steering intention damping module is characterized by generating such that, when the steering intention ratio is greater than or equal to a predetermined value, the damping torque gain decreases as the steering intention ratio increases. Compensation control device of an electric power steering system.
  5. In claim 1, A steering intention HFAC module further comprising a High-Frequency Assist Control (HFAC) damping torque gain corresponding to the above steering intention ratio and reflecting it in the HFAC damping torque generation value of the HFAC module Compensation control device of an electric power steering system.
  6. In claim 5, The steering intention HFAC module reflects the HFAC damping torque gain by multiplying it by the HFAC damping torque generation value, and Characterized by generating the HFAC damping torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the HFAC damping torque gain as greater than 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control device of an electric power steering system.
  7. In claim 6, The steering intention HFAC module is characterized by generating the HFAC damping torque gain to increase as the steering intention ratio increases when the steering intention ratio is greater than or equal to a predetermined value. Compensation control device of an electric power steering system.
  8. A steering intention determination module that calculates the driver's steering intention ratio according to the increase in grip detection force measured by a pressure sensor; and It includes a steering intention damping module that generates a damping torque gain corresponding to the above steering intention ratio and reflects it in the damping torque generation value of the damping module, A steering intention restoration module further comprising a return torque gain corresponding to the above steering intention ratio, which is generated and reflected in the return torque generation value of the restoration module. Compensation control device of an electric power steering system.
  9. In claim 8, The above steering intention restoration module reflects the restoration torque gain by multiplying it by the restoration torque generation value, and Characterized by generating the restoration torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the restoration torque gain as 0 to 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control device of an electric power steering system.
  10. In claim 9, The steering intention restoration module is characterized by generating such that when the steering intention ratio is greater than or equal to a predetermined value, the restoration torque gain decreases as the steering intention ratio increases. Compensation control device of an electric power steering system.
  11. A step of calculating the driver's steering intention ratio; A step of generating a damping torque gain corresponding to the above steering intention ratio; A step of generating an HFAC (High-Frequency Assist Control) damping torque gain corresponding to the above steering intention ratio; and A step comprising generating a return torque gain corresponding to the above steering intention ratio, Compensation control method for an electric power steering system.
  12. In claim 11, A step of reflecting the above damping torque gain in the damping torque generation value of the damping module; A step of reflecting the above HFAC damping torque gain in the HFAC damping torque generation value of the HFAC module; and A further step of reflecting the above restoration torque gain into the restoration torque generation value of the restoration module, Compensation control method for an electric power steering system.
  13. In claim 12, The step of reflecting the above damping torque gain in the damping torque generation value of the damping module is, The above damping torque gain is multiplied by the above damping torque generation value and reflected, The damping torque gain is characterized by generating the damping torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the damping torque gain as 0 to 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control method for an electric power steering system.
  14. In claim 12, The step of reflecting the above HFAC damping torque gain in the HFAC damping torque generation value of the HFAC module is, The above HFAC damping torque gain is multiplied by the above HFAC damping torque generation value and reflected, The above HFAC damping torque gain is characterized by generating the HFAC damping torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the HFAC damping torque gain as greater than 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control method for an electric power steering system.
  15. In claim 12, The step of reflecting the above restoration torque gain in the restoration torque generation value of the restoration module is, The above restoration torque gain is multiplied by the above restoration torque generation value and reflected, The above-described restoring torque gain is characterized by generating the restoring torque gain as 1 when the steering intention ratio is less than a predetermined value, and generating the restoring torque gain as 0 to 1 when the steering intention ratio is greater than or equal to a predetermined value. Compensation control method for an electric power steering system.

Description

Compensation control apparatus and compensation control method of an electric power steering system {ASSIST CONTROL APPARATUS AND METHOD OF MOTOR DRIVEN POWER STEERING SYSTEM} The present invention relates to a control system and method for compensating for the steering performance of an electric power steering system. The Motor Driven Power Steering (MDPS) system utilizes a motor to generate torque that compensates for the driver's torque during steering. This electric power steering system includes assist logic that determines the main assist torque based on the boost output relative to the torque input, HFAC (High-Frequency Assist Control) logic that increases the sense of unfamiliarity and output, damping logic that controls vibrations in the steering system, and return logic that increases the restoring force. Meanwhile, with the recent advancement of autonomous driving technology, handshake ON/OFF detection technology for determining grip status is becoming increasingly important. Previously, indirect methods utilizing MDPS torque sensor values were employed, but because it is difficult to determine handshake ON status for weak grip, technology is currently being developed to determine handshake ON/OFF status by directly utilizing sensors in the steering wheel grip area. However, MDPS generates torque to compensate for the driver's torque; since this compensation occurs regardless of the driver's steering intent, it can sometimes feel like artificial operation. For example, when driving on a bumpy road, the steering wheel moves unintentionally due to vehicle vibrations, and because the MDPS operates rapidly in such situations, an artificial sensation is transmitted to the driver. In other words, when MDPS is applied uniformly, it goes against the driver's steering intention and fails to respond actively to the driver's steering intention. The matters described in the background technology above are intended to aid in understanding the background of the invention and may include matters that are not prior art already known to those skilled in the art to which this technology belongs. FIG. 1 is a schematic diagram of the electric power steering compensation control device of the present invention. FIG. 2 illustrates the steering intention determination module of the present invention. FIGS. 3 and 4 illustrate the operation logic of the steering intention damping module, steering intention HFAC module, and steering intention restoration module of the present invention. In order to fully understand the present invention, the operational advantages of the present invention, and the objectives achieved by the implementation of the present invention, reference must be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings. In describing preferred embodiments of the present invention, known technologies or repetitive descriptions that may unnecessarily obscure the essence of the invention will be shortened or omitted. FIG. 1 is a schematic diagram of the electric power steering compensation control device of the present invention. Hereinafter, a compensation control device and a compensation control method of an electric power steering system according to an embodiment of the present invention will be described with reference to FIG. 1. The compensation control device of the electric power steering system of the present invention is a device that controls the existing device that assists steering performance, including a damping module (11), an HFAC module (12), and a restoration module (13), by identifying the driver's steering intention and reflecting it, thereby preventing an artificial feeling from being transmitted when the driver is steering. The damping module (11) is a module that generates damping torque and controls vibrations in the steering system, the HFAC module (12) is a module that generates damping torque for the HFAC and increases the sense of unfamiliarity and output during steering, and the return module (13) is a module that generates return torque and increases the return force during steering. Additionally, the assist module (14) is a module that generates assist for the existing MDPS and determines the main assist torque based on the boost output relative to the torque input. The present invention includes a steering intention determination module (20, Intended Ratio Module), a steering intention damping module (11, Intended Damping Gain Module), a steering intention HFAC module (22, Intended HFAC Gain Module), and a steering intention restoration module (Intended Return Ratio Module) to reflect the driver's steering intention. Therefore, the steering intention judgment module (20) determines whether the grip detection from the pressure sensor increases, and if it increases, determines that it is an intentional steering by the driver and calculates a steering intention ratio to increase respo