Manipulating a computing device

Abstract

A manipulation calculating device for calculating a state quantity of a manipulation device (10) includes a processor. The processor is configured to execute a manipulation angle variable acquisition process, an output shaft angle variable acquisition process, and a joint angle variable calculation process. The manipulation angle variable acquisition process is a process of acquiring a value of a manipulation angle variable. The output shaft angle variable acquisition process is a process of acquiring a value of an output shaft angle variable that is a variable indicating a rotation angle of an output shaft of the manipulation device (10). The joint angle variable calculation process is a process of calculating a value of a joint angle variable. The joint angle variable is a variable that defines an angle formed between an axial direction of an input shaft and an axial direction of an output shaft of the manipulation device (10).

Description

Technical Field

[0001] This invention relates to a manipulating computing device. Background Technology

[0002] For example, Japanese Unexamined Patent Application Publication No. 2008-49992 (JP 2008-49992A) describes a device configured to transmit rotational power of a steering wheel to the steering wheels via three shafts. Here, the three shafts are connected to each other via two universal joints. The device estimates the bending angle of the universal joints based on detection values ​​from a tilt angle sensor. Summary of the Invention

[0003] Without a tilt angle sensor, the above estimation method for estimating the bending angle cannot estimate the bending angle.

[0004] The following describes the methods that can solve this problem and their effects.

[0005] 1. One aspect of the present invention relates to a control calculation device for calculating state variables of a control device. The control device includes a steering wheel, an input shaft, an intermediate shaft, an output shaft, a first universal joint, a second universal joint, and a steering wheel. The input shaft is connected to the steering wheel, the first universal joint is a member connecting the input shaft to the intermediate shaft, the second universal joint is a member connecting the intermediate shaft to the output shaft, and the steering wheel is configured to receive a control torque input to the steering wheel via the input shaft, the intermediate shaft, and the output shaft. The control calculation device includes a processor. The processor is configured to perform a control angle variable acquisition process, an output shaft angle variable acquisition process, and a joint angle variable calculation process. The control angle variable acquisition process acquires the value of a control angle variable, which is a variable indicating the rotation angle of the steering wheel. The output shaft angle variable acquisition process acquires the value of an output shaft angle variable, which is a variable indicating the rotation angle of the output shaft. The joint angle variable calculation process calculates the value of a joint angle variable using the values ​​of the control angle variable and the output shaft angle variable as inputs. The joint angle variable is a variable defining the angle formed between the axial direction of the input shaft and the axial direction of the output shaft.

[0006] Since the relationship between the output shaft's rotation angle and the operating angle depends on the bend angle between the input shaft and the intermediate shaft, and the bend angle between the intermediate shaft and the output shaft, the paired bend angles can be determined from the output shaft's rotation angle and the operating angle. Taking this into account in the above configuration, the values ​​of the operating angle variable and the output shaft angle variable can be used as inputs to calculate the value of the connector angle variable. Therefore, the value of the connector angle variable can be calculated without requiring a sensor configured to detect the tilt angle.

[0007] 2. In the manipulation calculation device according to the above aspects, the joint angle variable may include a first bend angle defined as an angle formed between the input shaft and the intermediate shaft, and a second bend angle defined as an angle formed between the output shaft and the intermediate shaft.

[0008] Using the above configuration, more detailed information about the first and second bend angles can be obtained compared to the case where the first and second bend angles are quantified as values ​​of a single variable.

[0009] 3. In the control calculation device according to the above aspects, the joint angle variable may include a difference angle variable in addition to the first bending angle and the second bending angle. The difference angle variable may be a variable that depends on the angle formed between the first plane and the second plane. The first plane may be a plane parallel to the axial direction of the input shaft and the axial direction of the intermediate shaft. The second plane may be a plane parallel to the axial direction of the output shaft and the axial direction of the intermediate shaft.

[0010] In addition to the bend angles between the input and intermediate shafts and between the intermediate and output shafts, the relationship between the output shaft's rotation angle and operating angle also depends on the angles formed as described above. This means that the angles formed as described above can be determined from the output shaft's rotation angle and operating angle. Therefore, using the above configuration, the value of the difference angle variable can be calculated.

[0011] 4. In the manipulation calculation device according to the above aspects, the manipulation angle variable acquisition process may include processing for acquiring different values ​​of the manipulation angle variable. The output shaft angle variable acquisition process may include processing for acquiring the value of the output shaft angle variable, wherein the value of the output shaft angle variable is synchronized with different values ​​of the manipulation angle variable. The connector angle variable calculation process may be processing for calculating the value of the connector angle variable using different values ​​of the manipulation angle variable and the value of the output shaft angle variable as input, wherein the value is synchronized with the different values.

[0012] In the above configuration, the relationship between the output shaft rotation angle and the operating angle changes depending on the value of the connector angle variable. When the operating angle takes various values, the output shaft rotation angle includes detailed information about the relationship between the output shaft rotation angle and the operating angle. Therefore, using the above configuration, by calculating the value of the connector angle variable using multiple values ​​of the operating angle variable, the value of the connector angle variable can be calculated based on detailed information about this relationship.

[0013] 5. In the manipulation calculation device according to the above aspects, the different values ​​of the manipulation angle variable obtained in the manipulation angle variable acquisition process may include values ​​having absolute values ​​of the manipulation angle variable, said absolute values ​​such that the difference between the minimum and maximum absolute values ​​is equal to or greater than a predetermined value.

[0014] When the difference between the maximum and minimum absolute values ​​of the operating angle is large, more useful information can be obtained compared to when the difference is small, allowing for the specification of the connector angle variable value based on the relationship between the output shaft's rotation angle and the operating angle. Therefore, using the above configuration, the accuracy of calculating the connector angle variable value can be improved by setting a predetermined value.

[0015] 6. The manipulation calculation device according to the above aspects may further include a storage device storing relational constraint data. The relational constraint data may be data defining a relational expression. The relational expression may be an expression defining the relationship between the values ​​of the manipulation angle variable, the output shaft angle variable, and the connector angle variable. The connector angle variable calculation process may include a process of calculating the value of the connector angle variable by inputting different values ​​of the manipulation angle variable and the value of the output shaft angle variable into the relational expression using the least squares method, wherein the value of the output shaft angle variable is synchronized with the different values ​​of the manipulation angle variable.

[0016] A physical relationship is established between the operating angle, the rotation angle of the output shaft, and the values ​​of the connector angle variable. Therefore, in the above configuration, the value of the connector angle variable can be calculated using the least squares method, where the value of the connector angle variable in the relationship is treated as an unknown.

[0017] 7. In the steering calculation device according to the above aspects, the steering device may include an actuator configured to generate power to steer the steering wheels. The steering calculation device may be configured to perform operation processing and response processing. Operation processing may be processing that operates the actuator in response to steering wheel operation. Response processing may be processing that reflects the value of the joint angle variable in the operation of the actuator.

[0018] The relationship between the steering angle and the rotation angle of the output shaft, as well as the relationship between the steering torque and the torque applied to the output shaft, changes depending on the value of the joint angle variable. Therefore, if the actuator is operated in response to steering wheel operation without considering the value of the joint angle variable, there is a problem that the actuator operation may not be appropriate, depending on the value of the joint angle variable. In view of this, by using the above configuration and reflecting the value of the joint angle variable in the operation processing, the operation processing can be made more appropriate. Attached Figure Description

[0019] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and in the drawings:

[0020] Figure 1 This is a view showing the configuration of a control system according to one embodiment;

[0021] Figure 2 This is a view showing the configuration of the first universal joint according to an embodiment;

[0022] Figure 3 This is a block diagram illustrating the process performed by the control device according to an embodiment;

[0023] Figure 4 This is a flowchart illustrating the process executed by the control device according to an embodiment;

[0024] Figure 5 This is a flowchart illustrating the process executed by the control device according to an embodiment; and

[0025] Figure 6 It is a view that limits the coordinates used for the calculation process of the tilt angle according to the implementation method. Detailed Implementation

[0026] One embodiment of manipulating a computing device is described below with reference to the accompanying drawings.

[0027] System Configuration

[0028] like Figure 1 As shown, the control device 10 is a device configured to steer the steering wheel 36 by cooperating with the steering torque input by the driver to the steering wheel 12 and the power of the steering actuator 40. The control device 10 is an electrically powered control device. In the following description, the operation of the steering wheel 12 in the right or left direction is referred to as "control".

[0029] The steering wheel 12 is fixed to the column shaft 14. The column shaft 14 is mechanically connected to the intermediate shaft 18 via a first universal joint 16. The intermediate shaft 18 has a known retractable configuration. Of the two ends of the intermediate shaft 18 along its axial direction, the end opposite to the end connected to the first universal joint 16 is connected to the pinion shaft 22 via a second universal joint 20.

[0030] Figure 2 The construction of a first universal joint 16 is shown. The first universal joint 16 includes a first yoke 16a, a second yoke 16b, and a joint cross shaft 16c. The joint cross shaft 16c has a cross shape. The joint cross shaft 16c connects the first yoke 16a and the second yoke 16b to each other, allowing the first yoke 16a and the second yoke 16b to rotate. The first yoke 16a is fastened to the end of a column shaft 14 by bolts (not shown). Note that the first yoke 16a can be welded to the end of the column shaft 14. The second yoke 16b is fixed to the end of an intermediate shaft 18 by welding.

[0031] Note that the construction of the second universal joint 20 is similar to that of the first universal joint 16, and therefore, the construction of the second universal joint 20 will not be described further in this document. Return to References Figure 1The pinion shaft 22 is positioned at a predetermined crossing angle with the rack shaft 30. The rack and pinion mechanism 32 is configured such that rack teeth 30a formed on the rack shaft 30 mesh with pinion teeth 22a formed on the pinion shaft 22. Furthermore, corresponding tie rods 34 are connected to the opposite ends of the rack shaft 30. The respective distal ends of the tie rods 34 are connected to corresponding steering knuckles (not shown), to which steering wheels 36 are assembled. Through the rack and pinion mechanism 32, the rotational operation of the steering wheel 12 is converted into a displacement operation of the rack shaft 30 in the axial direction. When the axial displacement operation is transmitted to the steering knuckle via the tie rods 34, the steering angle of the steering wheels 36 changes. Note that the steering angle is the steering angle of the tires of the steering wheels 36.

[0032] The steering actuator 40 includes an auxiliary motor 42 as a drive source, a transmission mechanism 44 configured to transmit the torque of the auxiliary motor 42, and a ball screw mechanism 46. The ball screw mechanism 46 converts the torque of the auxiliary motor 42 transmitted via the transmission mechanism 44 into a force that displaces the rack shaft 30 in the axial direction. As an example, the auxiliary motor 42 is a three-phase brushless motor. The output voltage of the inverter 60 is applied to the terminals of the auxiliary motor 42.

[0033] Control device 50 operates inverter 60 to control the amount of control applied to steering wheel 36, which is the controlled object. Control device 50 controls the aforementioned amount of control by referencing the rotation angle θm of auxiliary motor 42 detected by rotation angle sensor 70. Furthermore, control device 50 references the currents iu, iv, and iw output from inverter 60. Note that the currents iu, iv, and iw can be determined by the amount of voltage drop across the respective shunt resistors in the branch circuit of inverter 60. Additionally, control device 50 references the torque Trq applied to steering wheel 12, detected by torque sensor 72.

[0034] The control unit 50 includes a PU 52 and a storage unit 54. The PU 52 is a software processing unit that includes at least one of a CPU, GPU, TPU, etc. The higher-level ECU 80 is an electronic control unit configured to generate commands higher than those of the control unit 50 regarding vehicle control. The higher-level ECU 80 references the steering angle θh detected by the steering sensor 82. The steering angle θh is the rotation angle of the steering wheel 12. In other words, the steering angle θh is the rotation angle of the column shaft 14.

[0035] The control unit 50 and the host ECU 80 can communicate with each other. The control unit 50 can receive the manipulation θh acquired by the host ECU 80. However, the sampling period of the manipulation θh is longer than the sampling period of the rotation angle θm.

[0036] Auxiliary control

[0037] Figure 3The process performed by the control device 50 is shown. Figure 3 The process shown is achieved, for example, by PU 52 repeatedly executing the auxiliary control program 54a stored in storage device 54 at predetermined cycles.

[0038] The pinion angle calculation process M10 uses the rotation angle θm as input to calculate the pinion angle θp, where θp is the rotation angle of the pinion shaft 22. The operating angle calculation process M12 uses the pinion angle θp as input to calculate the operating angle θh. The operating angle calculation process M12 uses data stored in... Figure 1 The processing of calculating the operating angle θh involves relational constraint data 54b in the storage device 54 shown. Relational constraint data 54b includes data defining the relational expression defined by equation (c1). The relational expression uses the pinion angle θp as the independent variable and the operating angle θh as the dependent variable.

[0039]

[0040] Here, the bending angle α1 of the first universal joint 16, the bending angle α2 of the second universal joint 20, and the difference angle variable ψ are used. The bending angle α1 of the first universal joint 16 is the angle formed between the axial direction of the column shaft 14 and the axial direction of the intermediate shaft 18. Furthermore, the bending angle α2 of the second universal joint 20 is the angle formed between the axial direction of the intermediate shaft 18 and the axial direction of the pinion shaft 22. The difference angle variable ψ is “90-ξ+ε”. Here, “ξ” is the angle formed between a first plane parallel to both the axial directions of the column shaft 14 and the intermediate shaft 18, and a second plane parallel to both the axial directions of the intermediate shaft 18 and the pinion shaft 22. Furthermore, “ε” is the phase difference between the second yoke 16b, which is the yoke on the intermediate shaft 18 side of the two yokes of the first universal joint 16, and the yoke on the intermediate shaft 18 side of the two yokes of the second universal joint 20. The phase difference used herein indicates the deviation between the rotation angles around the axial direction of the intermediate shaft 18.

[0041] Equation (c1) is derived by applying the equation that defines the relationship between the bending angle and the rotation angle of the paired yokes in the universal joint to the first universal joint 16 and the second universal joint 20.

[0042] In other words, equation (c1) is derived by using a combination of equations (c2) and (c3).

[0043] tanθ2=cosα1·tanθh...(c2)

[0044] tan(θp′)=cosα2·tan(θ2+ψ)...(c3)

[0045] Note that "θ2" is the rotation angle of the intermediate shaft 18. Furthermore, "θp" indicates the phase difference between the pinion angle θp and "θh". More specifically, equation (c4) is derived from equations (c2) and (c3). θp′=arctan(tan[arctan{tan(θh)·cos(α1)}+ψ]·cos(α2))...(c4)

[0046] Therefore, the pinion angle θp is expressed by equation (c5) as follows.

[0047] θp=θp′-arctan{tan(ψ)·cos(α2)}...(c5)

[0048] By removing θp′ from equations (c4) and (c5), equation (c1) is obtained.

[0049] The compensation torque calculation process M20 calculates the steering torque Th by removing the gravitational influence from the torque Trq. That is, the rotation center of the steering wheel 12 is offset from the center of gravity of the steering wheel 12. Therefore, the torque Trq detected by the torque sensor 72 is the resultant force of the torque input by the driver into the steering wheel 12 and gravity. The compensation torque calculation process M20 calculates the steering torque Th by removing the gravitational component included in the torque Trq.

[0050] Here, the magnitude of gravity contributing to the torque Trq changes periodically according to the control angle θh. Therefore, the compensation torque calculation process M20 is a process that uses the control angle θh as input to calculate the control torque Th.

[0051] At the same time, the column axis 14 can be rotated around Figure 1 The rotation center OT shown rotates. Therefore, the position of the steering wheel 12 is adjustable. Note that when the tilt angle θtl, which is the amount of rotation around the rotation center OT, changes, even if the steering angle θh is the same, the magnitude of gravity contributing to the torque Trq will change. Therefore, the compensation torque calculation process M20 is a process that uses the tilt angle θtl as input to calculate the steering torque Th.

[0052] The auxiliary torque calculation process M22 is a process that calculates the auxiliary torque Ta using the steering torque Th as input. In other words, the auxiliary torque calculation process M22 adjusts the magnitude of the auxiliary torque Ta according to the magnitude of the steering torque Th to achieve an appropriate magnitude of the auxiliary torque Ta for the steering desired by the driver. The auxiliary torque calculation process M22 can be configured such that the magnitude of the auxiliary torque Ta when the magnitude of the steering torque Th is large is equal to or greater than the magnitude of the auxiliary torque Ta when the magnitude of the steering torque Th is small. Furthermore, the auxiliary torque calculation process M22 can be configured to set different values ​​for steering and turning, even when the magnitude of the steering torque Th is the same.

[0053] The operation signal output processing M24 processes data as follows: using the auxiliary torque Ta, rotation angle θm, and currents iu, iv, and iw as inputs, it generates and outputs the operation signal MS of the inverter 60 for controlling the torque of the auxiliary motor 42 to the auxiliary torque Ta. Note that in practice, the operation signal MS is the operation signal for each switching element of the inverter 60.

[0054] Estimation of tilt angle

[0055] As described above, the tilt angle θtl changes. When the tilt angle θtl changes, the first bending angle α1, the second bending angle α2, and the difference angle variable ψ also change. Therefore, in this embodiment, the first bending angle α1, the second bending angle α2, the difference angle variable ψ, and the tilt angle θtl are not values ​​explicitly determined by the specification, but rather variables that change when the driver changes the tilt angle θtl.

[0056] The details of the estimation process for these variables are described below. Figure 4 , Figure 5 The estimation process is illustrated. Figure 4 , Figure 5 The process shown is achieved, for example, by PU 52 repeatedly executing the auxiliary control program 54a stored in storage device 54 at predetermined cycles.

[0057] exist Figure 4 In the series of processes shown, PU 52 first determines whether the update flag F is "1" (S10). If the update flag F is "1", the update flag indicates that the process of updating the variable should be performed. If the update flag F is "0", the update flag indicates that the process of updating the variable should not be performed.

[0058] If PU 52 determines that the update flag F is "0" (S10: No), PU 52 determines whether the activation switch has just switched from the off state to the on state (S12). The activation switch is a switch used to put the vehicle into an operable state. For example, if only an internal combustion engine is provided as the thrust generating device in the vehicle, the activation switch may be an ignition switch. Furthermore, if the thrust generating device in the vehicle includes an electric motor, the activation switch may be a switch configured to open and close the circuit between the electric motor and the battery.

[0059] If PU 52 determines that the activation switch has switched to the ON state (S12: Yes), PU 52 substitutes "1" into the update flag F (S14). If PU 52 makes a positive determination in the process of S10, or if PU 52 ends the process of S14, PU 52 acquires the pinion angle θp (S16). Furthermore, PU 52 acquires the steering angle θh through communication with the host ECU 80 (S18). Then, PU 52 stores a set of pinion angles θp and steering angles θh in the storage device 54 (S20). The pinion angles θp and steering angles θh are synchronized data. This can be achieved, for example, by... Figure 5 The processing time period shown is set to the receiving interval of the steering angle θh.

[0060] Subsequently, PU 52 determines whether the difference between the maximum and minimum absolute values ​​of the manipulation angle θh stored in the processing of S20 is equal to or greater than a predetermined value Δth (S22). When PU 52 determines that the difference is the predetermined value Δth or greater (S22: yes), PU 52 obtains the first bending angle α1, the second bending angle α2, and the difference angle variable ψ by least squares method (S24).

[0061] In other words, for each set of pinion angles θp and steering angles θh stored in the processing of S20, PU 52 calculates the square of the difference between the value obtained by substituting the pinion angle θp into the right side of equation (c1) and the steering angle θh. Then, PU 52 searches for a first bend angle α1, a second bend angle α2, and a difference angle variable ψ that minimize the sum of the corresponding squares of the differences between the sets of pinion angles θp and steering angles θh stored in the processing of S20.

[0062] Subsequently, PU 52 updates the first bend angle α1, the second bend angle α2, and the difference angle variable ψ (S26) defined in relational constraint data 54b. Then, PU 52 calculates... Figure 6 The corresponding coordinates of points A and B shown are ( Figure 5 (S28 in the text).

[0063] exist Figure 6In this diagram, the axial center of the end of the column shaft 14 connected to the end side of the steering wheel 12 is designated as point A. Furthermore, point B is the center of the connector cross shaft 16c of the first universal joint 16. Point C is the center of the connector cross shaft of the second universal joint 20. Additionally, point D is a point on the rotation center axis of the pinion shaft 22. Point D, together with point C, defines a vector parallel to the pinion shaft 22.

[0064] As described above, the distance between point B and point C changes as the tilt angle θtl expands and contracts. Meanwhile, since point B rotates around the rotation center OT, the distance between point B and the rotation center OT does not change with the tilt angle θtl. Similarly, the distance between the rotation center OT and point A also remains unchanged. Considering these factors, the coordinates (xa, ya, za) of point A and the coordinates (xb, yb, zb) of point B are calculated as six unknowns using six simultaneous equations Eq1 to Eq6.

[0065] Here, equation Eq1 is an equation concerning the square of the length between the center of rotation OT and point A. The square of the length is a predetermined fixed value. Furthermore, the coordinates (xO, yO, zO) of the center of rotation OT are also fixed values.

[0066] Equation Eq2 is obtained by substituting the coordinate components of point A into the equation representing the plane containing points A and B. This plane does not change with the tilt angle θtl. Equation Eq3 is obtained by using the first bending angle α1 to represent the dot product of the vector moving from point B to point A and the vector moving from point B to point C.

[0067] Equation Eq4 is the equation concerning the square of the length between the center of rotation OT and point B. The square of the length is a predetermined fixed value. Equation Eq5 is obtained by substituting the coordinate components of point B into the equation representing the plane containing points A and B.

[0068] Equation Eq6 is an equation representing the dot product of the vector moving from point C to point B and the vector moving from point C to point D using the second bending angle α2. Then, PU 52 calculates the vector moving from point B to point A using the coordinate components found by the process in S28 (S30). Equation Eq6 is an equation representing the dot product of the vector moving from point C to point B and the vector moving from point C to point D using the second bending angle α2. Then, PU 52 calculates the vector moving from point B to point A using the coordinate components obtained by the process in S28 (S30).

[0069] For example, the tilt angle t1 is quantized as the angle formed by the direction from point B to point A relative to the direction from reference point B0 to reference point A0. Reference point B0 is the reference point of point B. Reference point A0 is the reference point of point A. When the steering wheel 12 is in the reference position, point A is located at reference point A0. Furthermore, when the steering wheel 12 is in the reference position, point B is located at reference point B0. Then, PU 52 calculates the tilt angle θtl (S32). As an example, the tilt angle θtl is quantized as the angle formed by the direction from point B to point A relative to the direction from reference point B0 to reference point A0. Reference point B0 is the reference point of point B. Reference point A0 is the reference point of point A. When the steering wheel 12 is in the reference position, point A is placed at reference point A0. Furthermore, when the steering wheel 12 is in the reference position, point B is placed at reference point B0.

[0070] PU 52 calculates the tilt angle θtl based on the dot product of the vector moving from reference point B0 to reference point A0 and the vector moving from point B to point A, the distance between reference point B0 and reference point A0, and the distance between point B and point A.

[0071] Then, PU 52 substitutes "0" into the update flag F (S34). Note that PU 52 ends when it finishes processing S34, or when it makes a negative confirmation in processing S12 or S22. Figure 4 , Figure 5 The series of processes shown.

[0072] Operation and effects of this implementation method

[0073] PU 52 estimates the first bend angle α1, the second bend angle α2, and the difference angle variable ψ based on relation (c1) using sequential data of the control angle θh and the pinion angle θp. Then, PU 52 calculates the coordinate components of points A and B using the first bend angle α1, the second bend angle α2, and the difference angle variable ψ. Next, PU 52 calculates the tilt angle θtl based on the coordinate components of points A and B. By using the tilt angle θtl, PU 52 can accurately remove the influence of the gravity component on the torque Trq and determine the control torque Th.

[0074] Correspondence

[0075] The correspondence between the content described in the above embodiments and the content described in the field of "Summary of the Invention" is as follows. In the following description, the correspondence will be described for each number of means used to solve the problem described in the field of the Summary of the Invention.

[0076] [1-4] The manipulation calculation device corresponds to the control device 50. The input shaft corresponds to the column shaft 14. The output shaft corresponds to the pinion shaft 22. The manipulation angle variable acquisition process corresponds to the process S18, which is repeated periodically until a definite determination is made in the process S22. The output shaft angle variable acquisition process corresponds to the process S16, which is repeated periodically until a definite determination is made in the process S22. The joint angle variable calculation process corresponds to the processes S20 to S24.

[0077] [5] This aspect corresponds to the processing of S22.

[0078] [6] The relation corresponds to equation (c1).

[0079] [7] The operation processing corresponds to the operation signal output processing M24. The response processing corresponds to the compensation torque calculation processing M20. That is, the compensation torque calculation processing M20 takes the tilt angle θtl as input. The tilt angle θt1 depends on the first bending angle α1 and the second bending angle α2. Therefore, when the first bending angle α1 and the second bending angle α2 change, the tilt angle θt1 can change. When the tilt angle θtl changes, even if the torque Trq is the same, the operating torque Th will change. Therefore, the operation signal MS changes. That is, the change of the first bending angle α1 and the second bending angle α2 is reflected in the operation signal MS.

[0080] Other implementation methods

[0081] Note that this implementation can also be performed by adding the changes described below. This implementation and the following modifications can be combined, provided they do not cause any technical inconsistencies.

[0082] Output axis angle variable acquisition and processing

[0083] - The output shaft angle variable acquisition process is not limited to acquiring a value calculated using the rotation angle θm of the auxiliary motor 42 as input. For example, a sensor configured to detect the rotation angle of the pinion shaft 22 can be provided, so that the output shaft angle variable acquisition process can be a process of acquiring the detected value from the sensor. Furthermore, for example, a sensor configured to detect the amount of displacement of the rack shaft 30 in the axial direction can be provided, so that the output shaft angle variable acquisition process can be a process of acquiring a value calculated using the detected value from the sensor as input.

[0084] Relationship

[0085] The relation is not limited to one that uses the pinion angle θp as the independent variable and the control angle θh as the output variable. For example, the relation could use the control angle θh as the independent variable and the pinion angle θp as the output variable. The relation does not necessarily have to be in the form of a function. For example, the relation could be one in which the values ​​obtained from calculations using the pinion angle θp and the control angle θh become constants, such as "0".

[0086] Joint angle variable calculation and processing

[0087] The calculation of the joint angle variable is not limited to the least squares method using relational expressions. For example, the joint angle variable calculation can be a regression model where the operating angle θh and pinion angle θp are taken as inputs and the first bending angle α1, the second bending angle α2, and the difference angle variable ψ are taken as outputs. Here, the regression model as the learning model can be a linear regression model. Alternatively, the regression model can be a neural network. The learning of the regression model can be achieved using the operating angle θh and pinion angle θp, as well as the values ​​of the first bending angle α1, the second bending angle α2, and the difference angle variable ψ measured in response to the operating angle θh and pinion angle θp, as training data.

[0088] - In the case where the intermediate axis 18 does not have a phase difference ε, or where the tolerance of the phase difference ε can be ignored, the angle ξ formed in this paper can be the difference angle variable as the estimation target.

[0089] - In the case where the intermediate shaft 18 is not configured with a phase difference ε, or where the tolerance of the phase difference ε can be ignored, and where the axial direction of the column shaft 14, the axial direction of the intermediate shaft 18 and the axial direction of the pinion shaft 22 are parallel to a plane, the difference angle variable ψ does not need to be estimated.

[0090] Reflection and processing

[0091] - The reaction processing is not limited to the processing including the compensation torque calculation processing M20. For example, in the auxiliary torque calculation processing M22, a process can be implemented to calculate the auxiliary torque Ta using the control torque Th, control angle θh, and tilt angle θtl as inputs. In this case, the reaction processing can be configured by the auxiliary torque calculation processing M22.

[0092] - The response processing is not limited to processing that compensates for the gravitational component in the operating torque Th. For example, if the torque sensor 72 is configured to detect the torque applied to the pinion shaft 22, the response processing could be a process that converts the detected value from the sensor into the operating torque Th as the torque applied to the column shaft 14. This takes into account the dependence of the ratio between the operating torque Th and the torque applied to the pinion shaft 22 on the operating angle θh according to the first bending angle α1 and the second bending angle α2.

[0093] Furthermore, for example, in the case of a controller configured to determine the auxiliary torque Ta based on the control angle θh, the process of estimating the control angle based on the pinion angle θp can be included in the reaction process.

[0094] Manipulating computing devices

[0095] - The control device 50 is not limited to a device including PU 52 and storage device 54 and configured to perform software processing. For example, the control device 50 may include dedicated hardware circuitry (e.g., ASIC, etc.) configured to cause at least a portion of the processing performed by software processing in the above embodiments to be performed by hardware processing. That is, the manipulating computing device may have any of the following configurations (a) to (c).

[0096] (a) The operating computing device includes a processing device configured to perform all of the above-described processes according to a program, and a program storage device such as a ROM storing a program.

[0097] (b) The manipulating computing device includes a processing device configured to perform a portion of the above-described processing according to a program, a program storage device, and dedicated hardware circuitry configured to perform the remaining processing.

[0098] (c) The manipulation computing device includes dedicated hardware circuitry configured to perform all of the processes described above.

[0099] Here, multiple software processing circuits, including processing means and program storage means, or multiple dedicated hardware circuits, can be provided. That is, the processing can be performed by a processing circuit that includes at least one of one or more software processing circuits and one or more dedicated hardware circuits.

[0100] Operating device

[0101] - The operating device is not limited to the configuration in which the rotation shaft of the auxiliary motor 42 and the rack shaft 30 are placed parallel to each other. For example, the operating device may include a second rack and pinion mechanism separate from the rack and pinion mechanism 32, so as to provide torque to the auxiliary motor 42 via the second rack and pinion mechanism.

[0102] other

[0103] The factors that change the bending angles α1 and α2 are not limited to changes in the tilt angle. For example, the use of the telescopic function can be a factor that changes the bending angles α1 and α2.

Claims

1. A control calculation device for calculating state quantities of a control device (10), the control device (10) comprising a steering wheel (12), an input shaft, an intermediate shaft (18), an output shaft, a first universal joint (16), a second universal joint (20), and a steering wheel (36), the input shaft being connected to the steering wheel (12), the first universal joint (16) being a component connecting the input shaft to the intermediate shaft (18), the second universal joint (20) being a component connecting the intermediate shaft to the output shaft, the steering wheel (36) being configured to receive a control torque input to the steering wheel (12) via the input shaft, the intermediate shaft (18), and the output shaft, the control calculation device being characterized in that it includes a processor configured to perform control angle variable acquisition processing, output shaft angle variable acquisition processing, and joint angle variable calculation processing, wherein, The control angle variable acquisition process is the process of acquiring the value of the control angle variable, which is a variable indicating the rotation angle of the steering wheel (12); The output shaft angle variable acquisition process is the process of acquiring the value of the output shaft angle variable, which is a variable indicating the rotation angle of the output shaft; The joint angle variable calculation process uses the values ​​of the manipulation angle variable and the output shaft angle variable as inputs to calculate the value of the joint angle variable; and The connector angle variable is a variable that limits the angle formed between the axial direction of the input shaft and the axial direction of the output shaft.

2. The manipulation computing device according to claim 1, characterized in that, The connector angle variable includes a first bend angle defined as the angle formed between the input shaft and the intermediate shaft (18) and a second bend angle defined as the angle formed between the output shaft and the intermediate shaft (18).

3. The manipulation computing device according to claim 2, characterized in that, In addition to the first bending angle and the second bending angle, the joint angle variable also includes the difference angle variable; The difference angle variable is a variable that depends on the angle formed between the first plane and the second plane; The first plane is a plane parallel to the axial direction of the input shaft and the axial direction of the intermediate shaft (18); and The second plane is a plane parallel to the axial direction of the output shaft and the axial direction of the intermediate shaft (18).

4. The manipulation computing device according to any one of claims 1 to 3, characterized in that, The manipulation angle variable acquisition process includes the process of acquiring different values ​​of the manipulation angle variable; The output shaft angle variable acquisition process includes acquiring the value of the output shaft angle variable, wherein the value of the output shaft angle variable is synchronized with different values ​​of the control angle variable; and The connector angle variable calculation process uses different values ​​of the control angle variable and the value of the output shaft angle variable as input to calculate the value of the connector angle variable, and the value of the output shaft angle variable is synchronized with the different values ​​of the control angle variable.

5. The manipulation computing device according to claim 4, characterized in that, Different values ​​of the manipulation angle variable obtained in the manipulation angle variable acquisition process include values ​​having absolute values ​​of the manipulation angle variable, the absolute values ​​being such that the difference between the minimum and the maximum absolute values ​​is equal to or greater than a predetermined value.

6. The manipulation computing device according to claim 4, characterized in that, It also includes a storage device in which relational definition data is stored, wherein, The relational constraint data is data that defines the relational expression; The relationship is a formula that defines the relationship between the values ​​of the control angle variable, the output shaft angle variable, and the connector angle variable; and The joint angle variable calculation process includes inputting different values ​​of the control angle variable and the output shaft angle variable into the relational expression to calculate the value of the joint angle variable using the least squares method. The value of the output shaft angle variable is synchronized with the different values ​​of the control angle variable.

7. The manipulation computing device according to claim 5, characterized in that, It also includes a storage device in which relational definition data is stored, wherein, The relational constraint data is data that defines the relational expression; The relationship is a formula that defines the relationship between the values ​​of the control angle variable, the output shaft angle variable, and the connector angle variable; and The joint angle variable calculation process includes inputting different values ​​of the control angle variable and the value of the output shaft angle variable into the relational expression to calculate the value of the joint angle variable using the least squares method. The value of the output shaft angle variable is synchronized with the different values ​​of the control angle variable.

8. The manipulation computing device according to claim 1, characterized in that, The control device (10) includes an actuator configured to generate power to turn the steering wheel (36); The manipulation computing device is configured to perform operation processing and response processing; The operation process is the process of operating the actuator in response to the operation of the steering wheel (12); and The reflection process is the process of reflecting the value of the connector angle variable in the operation of the actuator.

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