FR3083772B1 - Detection progressive de l'apparition d'un phenomene de couple de tirage - Google Patents

Detection progressive de l'apparition d'un phenomene de couple de tirage Download PDF

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Publication number
FR3083772B1
FR3083772B1 FR1856492A FR1856492A FR3083772B1 FR 3083772 B1 FR3083772 B1 FR 3083772B1 FR 1856492 A FR1856492 A FR 1856492A FR 1856492 A FR1856492 A FR 1856492A FR 3083772 B1 FR3083772 B1 FR 3083772B1
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France
Prior art keywords
gain
wheels
torque
draft
appearance
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.)
Active
Application number
FR1856492A
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English (en)
Other versions
FR3083772A1 (fr
Inventor
Luc Leydier
Andre Michelis
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.)
JTEKT Europe SAS
Original Assignee
JTEKT Europe SAS
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 JTEKT Europe SAS filed Critical JTEKT Europe SAS
Priority to FR1856492A priority Critical patent/FR3083772B1/fr
Priority to US17/259,994 priority patent/US11760410B2/en
Priority to CN201980046998.XA priority patent/CN112512899B/zh
Priority to PCT/FR2019/051698 priority patent/WO2020012106A1/fr
Priority to JP2021500305A priority patent/JP7348262B2/ja
Priority to DE112019003563.0T priority patent/DE112019003563T5/de
Publication of FR3083772A1 publication Critical patent/FR3083772A1/fr
Application granted granted Critical
Publication of FR3083772B1 publication Critical patent/FR3083772B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0472—Controlling the motor for damping vibrations
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear

Landscapes

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

Abstract

Procédé d'activation et de désactivation progressive d'une fonction de rappel de direction dans un véhicule, ledit véhicule comprenant, au moins deux roues, un volant de direction, un moteur d'assistance appliquant un couple d'assistance (CRP) sur une crémaillère et un moteur d'entrainement appliquant un couple à la roue sur les au moins deux roues, ledit procédé mettant en œuvre une étape de calcul (1) d'un gain d'application (GA) comprenant une première phase (11) de détermination d'un premier gain (G1) dépendant du couple à la roue d'au moins une des deux roues, une étape d'estimation (2) du couple d'assistance associée à la fonction de rappel (CR), et une étape de multiplication (4) du couple d'assistance associée à la fonction de rappel (CR) et du gain d'application (GA), caractérisé en ce que le procédé met également en œuvre dans l'étape de calcul (1) du gain d'application (GA), une deuxième phase (12) de détermination d'un deuxième gain (G2) dépendant, d'un angle du volant de direction (αD), et d'une différence des vitesses de rotation (VR) des au moins deux roues.
FR1856492A 2018-07-13 2018-07-13 Detection progressive de l'apparition d'un phenomene de couple de tirage Active FR3083772B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
FR1856492A FR3083772B1 (fr) 2018-07-13 2018-07-13 Detection progressive de l'apparition d'un phenomene de couple de tirage
US17/259,994 US11760410B2 (en) 2018-07-13 2019-07-09 Gradual detection of the appearance of torque steer
CN201980046998.XA CN112512899B (zh) 2018-07-13 2019-07-09 扭矩转向的出现的逐步检测
PCT/FR2019/051698 WO2020012106A1 (fr) 2018-07-13 2019-07-09 Détection progressive de l'apparition d'un phénomène de couple de tirage
JP2021500305A JP7348262B2 (ja) 2018-07-13 2019-07-09 トルクステアの出現の段階的検出
DE112019003563.0T DE112019003563T5 (de) 2018-07-13 2019-07-09 Schrittweise Erfassung des Auftretens von Torque-Steer

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1856492 2018-07-13
FR1856492A FR3083772B1 (fr) 2018-07-13 2018-07-13 Detection progressive de l'apparition d'un phenomene de couple de tirage

Publications (2)

Publication Number Publication Date
FR3083772A1 FR3083772A1 (fr) 2020-01-17
FR3083772B1 true FR3083772B1 (fr) 2020-08-28

Family

ID=63684119

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1856492A Active FR3083772B1 (fr) 2018-07-13 2018-07-13 Detection progressive de l'apparition d'un phenomene de couple de tirage

Country Status (6)

Country Link
US (1) US11760410B2 (fr)
JP (1) JP7348262B2 (fr)
CN (1) CN112512899B (fr)
DE (1) DE112019003563T5 (fr)
FR (1) FR3083772B1 (fr)
WO (1) WO2020012106A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111959491A (zh) * 2020-08-29 2020-11-20 哈尔滨理工大学 一种基于混合动力汽车统一模型的规则控制参数优化方法

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5668722A (en) * 1995-10-02 1997-09-16 General Motors Corporation Electric power steering control
JP3803226B2 (ja) * 2000-03-13 2006-08-02 株式会社ジェイテクト 電動パワーステアリング制御装置
JP4293734B2 (ja) * 2001-01-17 2009-07-08 三菱電機株式会社 電動式パワーステアリング制御装置
JP2003081119A (ja) * 2001-09-14 2003-03-19 Mazda Motor Corp 自動車の電動パワーステアリング装置
JP2006213085A (ja) 2005-02-01 2006-08-17 Favess Co Ltd 電動パワーステアリング装置
JP4830417B2 (ja) 2005-09-16 2011-12-07 トヨタ自動車株式会社 車輌の操舵補助力制御装置
JP4835986B2 (ja) * 2006-06-15 2011-12-14 株式会社アドヴィックス 電動ステアリング制御装置
JP2008126808A (ja) 2006-11-20 2008-06-05 Toyota Motor Corp 車両の制御装置
JP5512924B2 (ja) * 2007-04-20 2014-06-04 株式会社ジェイテクト 電動パワーステアリング装置
JP2010089540A (ja) * 2008-10-03 2010-04-22 Honda Motor Co Ltd 電動パワーステアリング装置
JP5267799B2 (ja) * 2009-02-23 2013-08-21 トヨタ自動車株式会社 車両の操舵制御装置
JP5089664B2 (ja) 2009-08-31 2012-12-05 三菱電機株式会社 車両用操舵制御装置
JP5640930B2 (ja) * 2011-09-08 2014-12-17 日本精工株式会社 電動パワーステアリング装置
JP5966684B2 (ja) * 2012-06-29 2016-08-10 日産自動車株式会社 車両の操舵制御装置
WO2014167630A1 (fr) * 2013-04-08 2014-10-16 三菱電機株式会社 Dispositif et procédé de commande de direction
JP6260818B2 (ja) 2014-02-18 2018-01-17 株式会社ジェイテクト 電動パワーステアリング装置
CN106170432B (zh) * 2014-04-25 2019-01-01 三菱电机株式会社 转向控制装置及其转向辅助转矩控制方法
KR101875490B1 (ko) * 2015-10-23 2018-08-02 닛본 세이고 가부시끼가이샤 전동 파워 스티어링 장치
DE102017128554A1 (de) * 2017-12-01 2019-06-06 Thyssenkrupp Ag Verfahren zur Steuerung eines Steer-by-Wire-Lenksystems mit Active Return

Also Published As

Publication number Publication date
WO2020012106A1 (fr) 2020-01-16
CN112512899A (zh) 2021-03-16
JP2021524417A (ja) 2021-09-13
CN112512899B (zh) 2023-06-06
US20210380163A1 (en) 2021-12-09
JP7348262B2 (ja) 2023-09-20
US11760410B2 (en) 2023-09-19
DE112019003563T5 (de) 2021-04-15
FR3083772A1 (fr) 2020-01-17

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