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Steering controller

A control device and motor technology, applied in the direction of torque ripple control, automatic steering control components, transportation and packaging, etc., can solve the problems that cannot be fully removed

Active Publication Date: 2010-12-29
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, there is a problem that if it is desired to extract cogging torque and torque ripple using a filter with a fixed time constant, it is necessary to set the pass band frequency of the filter to be wide, and it is impossible to sufficiently remove the Components other than the pulsation component caused by torque and torque ripple, such as the driver's manipulation component, or noise components in a frequency band higher than the pulsation component, etc.

Method used

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Embodiment approach 1

[0027] figure 1 It is a perspective view showing the steering control device including the variable time constant filter according to Embodiment 1 of the present invention. A steering shaft 2 is coupled to a steering wheel 1 operated by a driver. According to the rotation of the steering shaft 2, the left and right steering wheels 8 are steered. A torque sensor 3 is disposed on the steering shaft 2 and detects a steering torque generated by a driver's operation acting on the steering shaft 2 . The motor 4 is constituted by a three-phase motor. The motor 4 is connected to the steering shaft 2 via the reduction mechanism 5, and the assist torque generated by the motor 4 is added to the steering shaft 2 to assist the steering torque. An angle sensor 6 for detecting a rotation angle of the motor is arranged at the motor 4 . By the vehicle speed sensor 11 ( figure 2 ) to detect the speed of the vehicle. In addition, by the current sensor 19 ( figure 2 ) to detect the curre...

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Abstract

A steering controller that accurately extracts pulsating components caused by cogging torque or torque ripple to reduce pulsation. Pulsating components are extracted using a bandpass filter with variable time constant, and the time constant is set up according to the frequency of cogging torque or torque ripple that is a target of extraction. Further, a reference angle relative to a motor rotation angle is preset according to the order of harmonic generation frequency of cogging torque or torque ripple, and the time constant of the bandpass filter is set up from a time required for the motor to rotate by the reference angle.

Description

technical field [0001] The present invention relates to a steering control device, and more particularly to a steering control device for extracting and reducing a pulsation component caused by cogging torque and torque ripple of an electric motor. Background technique [0002] As the steering control device of the car, an electric power steering device is used. The electric power steering device controls the current of the electric motor so that the torque of the electric motor generated by the current is transmitted to the steering shaft, thereby reducing the steering torque of the driver. [0003] Generally, the torque generated by an electric motor includes cogging torque and torque ripple. Cogging torque and torque ripple act as disturbance torque, and the steering torque pulsates, so the steering feeling may be degraded. In order to prevent this problem, an expensive motor is used to reduce the cogging torque and torque ripple of the motor. [0004] In a conventiona...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D5/04H02P6/10B62D101/00B62D117/00B62D119/00
CPCB62D5/046H02P6/10
Inventor 远藤雅也栗重正彦家造坊勋
Owner MITSUBISHI ELECTRIC CORP