KR-20260067132-A - APPARATUS AND METHOD FOR CONTROLLING MOTOR DRIVEN POWER STEERING SYSTEM

KR20260067132AKR 20260067132 AKR20260067132 AKR 20260067132AKR-20260067132-A

Abstract

A control device and method for an electric power steering device are disclosed. A control device for an electric power steering device according to one aspect of the present invention includes a communication module and a processor connected to the communication module, wherein the processor determines whether self-steering occurs based on a steering angle signal of a steering wheel and a motor angle signal of a driving motor received through the communication module, and compensates the output value of the driving motor when it is determined that self-steering has occurred.

Inventors

김태홍

Assignees

현대모비스 주식회사

Dates

Publication Date: 20260512
Application Date: 20241105

Claims (10)

Communication module; and It includes a processor connected to the above communication module, The above processor determines whether self-steering occurs based on a steering angle signal of a steering wheel and a motor angle signal of a driving motor received through the communication module, and compensates the output value of the driving motor when it is determined that self-steering has occurred, a control device for an electric power steering system.
In Article 1, A control device for an electric power steering system, wherein the processor determines, based on the steering angle signal and the motor angle signal, whether the phase of the motor angle of the drive motor is faster than the phase of the steering angle of the steering wheel and whether the motor angular velocity of the drive motor is greater than the steering angular velocity of the steering wheel, and determines whether self-steering occurs based on the result of the determination.
In Paragraph 2, A control device for an electric power steering system, wherein the processor determines that self-steering has occurred when the phase of the motor angle is faster than the phase of the steering angle and the motor angular velocity is greater than the steering angular velocity.
In Paragraph 3, A control device for an electric power steering system, wherein the processor calculates a second signal by multiplying a first signal, to which a preset gear ratio is applied to the motor angle signal, and calculates a third signal by filtering the second signal through a low-pass filter, calculates a first difference value which is the difference between the motor angle and the steering angle from the third signal, and determines that the phase of the motor angle is faster than the phase of the steering angle if the first result value, which is the result of encoding the first difference value, is positive.
In Paragraph 3, The above processor calculates a motor angular velocity signal by differentiating the motor angle signal and calculates a steering angular velocity signal by differentiating the steering angle signal and calculates a steering angular velocity signal by subtracting the steering angular velocity calculated from the steering angular velocity signal from the motor angular velocity calculated from the motor angular velocity signal to calculate a second difference value, and determines that the motor angular velocity is greater than the steering angular velocity if the second result value, which is the result of encoding the second difference value, is positive.
In Article 1, The above processor is a control device for an electric power steering system that calculates a compensation output value based on vehicle speed and column torque received through the communication module, and compensates the output value of the drive motor according to the compensation output value.
In Paragraph 6, A control device for an electric power steering system, wherein the processor determines a first compensation gain based on the column torque, determines a second compensation gain based on the vehicle speed, calculates a final compensation gain by multiplying the first compensation gain and the second compensation gain, and calculates a compensation output value by multiplying the final compensation gain by a preset reference output value.
In Article 7, A control device for an electric power steering system, wherein the processor determines the first compensation gain by referring to relationship information regarding a gain according to a preset torque, and determines the second compensation gain by referring to relationship information regarding a gain according to a preset speed.
In Paragraph 6, The above processor is a control device for an electric power steering system that determines the value obtained by subtracting the compensation output value from the output value of the drive motor as the final output value of the drive motor.
A method for controlling an electric power steering device performed on a computing device including a processor, A step of determining whether self-steering occurs based on the steering angle signal of the steering wheel and the motor angle signal of the drive motor; and A control method for an electric power steering device comprising a step of compensating the output of a drive motor when it is determined that self-steering has occurred.

Description

Apparatus and Method for Controlling Motor Driven Power Steering System The present invention relates to a control device and method for an electric steering device. Generally, Motor Driven Power Steering (MDPS) is a device that supports handling by using an electric motor to provide auxiliary torque in the direction the driver is steering. Unlike conventional hydraulic power steering, this MDPS can improve steering performance and steering feel by automatically controlling the operation of the electric motor according to the vehicle's driving conditions. Meanwhile, in vehicles equipped with an electric power steering system, self-steer, a phenomenon in which the steering wheel turns on its own depending on road conditions, may occur. When self-steer occurs, the driver may feel a sense of unfamiliarity with the steering, and if steering is not properly performed due to self-steer, an accident may occur. The background technology of the present invention is Korean Registered Patent Publication It is disclosed in No. 10-2040706 (October 30, 2019). FIG. 1 is a block diagram showing a control device of an electric steering device according to an embodiment of the present invention. FIG. 2 is a block diagram showing a processor of a control device for an electric power steering device according to an embodiment of the present invention. Figure 3 is an example diagram illustrating the relationship information used to calculate the compensation output. FIG. 4 is a flowchart showing a control method for an electric steering device according to an embodiment of the present invention. Hereinafter, a control device for an electric power steering system and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the attached drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. Furthermore, the terms described below are defined considering their functions in the present invention, and these may vary depending on the intention or convention of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification. FIG. 1 is a block diagram showing a control device of an electric power steering device according to an embodiment of the present invention. Referring to FIG. 1, a control device for an electric power steering device according to an embodiment of the present invention may include a communication module (110), a memory (120), and a processor (130). Each component included in the control device for an electric power steering device according to an embodiment of the present invention may be connected via a common bus, or may be connected via an individual interface or an individual bus centered on the processor (130). The control device for an electric power steering device according to an embodiment of the present invention may include various additional components in addition to the components shown in FIG. 1, or may not include some of the components shown in FIG. 1. The control device for an electric power steering device according to an embodiment of the present invention may be applied to an R-type electric power steering device in which a steering angle sensor is provided on the steering wheel and a motor angle sensor is provided on the rack bar. The communication module (110) can communicate with external devices. The communication module (110) can communicate with various types of external devices according to various types of communication methods. The communication module (110) can receive information related to the state of the vehicle by communicating with various sensors (e.g., vehicle speed sensor, steering angle sensor, motor angle sensor, column torque sensor, etc.) and systems equipped in the vehicle. Information related to the state of the vehicle may include the vehicle speed, column torque acting on the steering column configured to rotate in conjunction with the steering wheel, the steering angle of the steering wheel, and the motor angle of the drive motor configured to generate steering force. At least one instruction executed by the processor (130) may be stored in the memory (120). The memory (120) may be implemented as a volatile storage medium and/or a non-volatile storage medium, for example, as a read-only memory (ROM) and/or random access memory (RAM). Various information required during the operation of the processor (130) may be stored in the memory (120). Additionally, various information generated during the operation of the processor (130) may be stored in the memory (120). The processor (130) may be operatively connected to the communication module (110) and the memory (120). The processor (130) may be implemented as a Central Processing Unit (CPU) or a System on Chip (SoC), and may control multiple hardware or software components connected to the proce