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Motor control device

A motor control and electric motor technology, applied in steering control, automatic steering control components, transportation and packaging, etc., can solve problems such as fluctuations and angle control accuracy reduction

Active Publication Date: 2019-11-05
JTEKT CORP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Since the above-mentioned PID control is a linear control algorithm, due to the road surface load torque (interference torque on the rack shaft side), friction torque of the steering system, steering Changes in non-linear disturbance torque such as steering torque (steering side disturbance torque) cause reduction in angle control accuracy and fluctuations

Method used

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Embodiment Construction

[0028] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. figure 1 It is a schematic diagram showing a schematic configuration of an electric power steering system to which a motor control device according to an embodiment of the present invention is applied. The electric power steering system 1 includes a steering wheel (handle) 2 , a steering mechanism 4 , and a steering assist mechanism 5 . The steering wheel 2 is a steering member for steering the vehicle. The steering mechanism 4 steers the steered wheels 3 in conjunction with the rotation of the steering wheel 2 . The steering assist mechanism 5 assists the driver's steering. The steering wheel 2 and the steering mechanism 4 are mechanically connected via a steering shaft 6 and an intermediate shaft 7 .

[0029] The steering shaft 6 includes an input shaft 8 connected to the steering wheel 2 and an output shaft 9 connected to the intermediate shaft 7 . The in...

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Abstract

A manual steering command value generation unit generates a manual steering command value using steering torque. An integrated angle command value computation unit computes an integrated angle commandvalue by adding the manual steering command value to an automatic steering command value. A control unit performs angle control on an electric motor on the basis of the integrated angle command value. The control unit includes: a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value; a disturbance torque estimation unit that estimates disturbance torque other than motor torque that is generated by the electric motor and acts on an object to be driven by the electric motor; and a disturbance torque compensationunit that corrects the basic torque command value in accordance with the disturbance torque.

Description

[0001] Cross References to Related Applications [0002] This application claims the priority of Japanese Patent Application No. 2018-086452 filed on April 27, 2018 and No. 2018-182677 filed on September 27, 2018, the entire contents of which are hereby cited. technical field [0003] The present invention relates to a control device for an electric motor for steering angle control. Background technique [0004] In automatic driving and driving assistance such as electric power steering (EPS: electric power steering), steer-by-wire, and rear-wheel steering, the steering angle of the steering wheel is controlled by an electric motor. In this type of motor control, angle feedback control for controlling the motor torque of the electric motor based on the difference between the target steering angle and the actual steering angle is used. As angle feedback control, generally, PID control is used. Specifically, after multiplying the term of the difference between the target ste...

Claims

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Application Information

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IPC IPC(8): B62D5/04
CPCB62D5/0463B62D6/002B62D15/025B62D5/0472B62D1/286B62D6/007B62D6/008
Inventor 小路直纪罗伯特·富克斯田村勉吉田光子
Owner JTEKT CORP
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