Steering device and method for operating a steering device
By introducing the first and second regulators into the steering device and using the mechanism to monitor the actual deviation from the rated position to control the electric motor, the failure of the steering device under the requirements of high precision and ASIL D is solved, and stable and high-precision steering control is achieved.
Patent Information
- Application Number
- CN202510165794.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-02-15
- Filing Date
- 2025-02-14
- Publication Date
- 2025-08-15
AI Technical Summary
Existing steering devices are prone to failure under high precision and ASIL D requirements, and cannot effectively identify and switch regulators to ensure stable operation.
By introducing the first and second regulators into the steering device and monitoring the deviation from the rated position by means of the mechanism, switching the regulator to operate the electric motor as needed, monitoring the deviation from the rated value by means of the mechanism and switching the regulator when necessary to ensure precise control.
The stable operation of the steering device under high precision and ASIL D requirements is achieved, which avoids failure and improves the accuracy and response capabilities of the regulator.
Smart Images
Figure CN120482132A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to a steering device and a method for operating a steering device. Summary of the Invention
[0002] The steering device and the method according to the independent claims prevent steering device failures, thereby meeting increased demands on controller accuracy and ASIL D requirements.
[0003] The steering device includes: a rack; an electric motor for setting the position of the rack; a first regulator for controlling the electric motor based on a deviation between the actual position of the rack and a setpoint position of the rack; a second regulator for controlling the electric motor based on a deviation between the actual position and the setpoint position; and a mechanism for switching from the control of the electric motor by the first regulator to the control of the electric motor by the second regulator, wherein the mechanism is constructed to switch from the control of the electric motor by the first regulator to the control of the electric motor by the second regulator based on a deviation between an actual value and a setpoint value, wherein the actual value is the actual position of the rack and the setpoint value is the setpoint position of the rack, or the actual value is a derivative of the actual position of the rack and the setpoint value is determined based on the difference between the actual position and the setpoint position of the rack.
[0004] It may be provided that the device is designed to monitor a deviation of an actual value from a setpoint value and, depending on the deviation, to switch from actuation of the electric motor by the first controller to actuation of the electric motor by the second controller.
[0005] It can be provided that the device is designed to compare the deviation of the actual value from the setpoint value with a limit value and to switch from the control of the electric motor by the first controller to the control of the electric motor by the second controller if the deviation of the actual value from the setpoint value is greater than the limit value. This means that the device is designed to detect the need for a switch particularly well.
[0006] It can be provided that the device is designed to determine the limit value as a function of the deviation of the actual value from the setpoint value. This means that the device is designed to adjust the limit value as a function of the deviation of the actual value from the setpoint value.
[0007] It can be provided that the mechanism is designed to determine increasingly narrower limit values as the deviation of the actual value from the setpoint value increases. This means that the mechanism is designed to set the limit value more sensitively as the deviation of the actual value from the setpoint value increases.
[0008] It may be provided that the device is designed to determine, for a deviation of the actual value from the setpoint value, a limit value for a positive deviation of the actual value from the setpoint value and a limit value for a negative deviation of the actual value from the setpoint value. These limit values may be identical or may differ from one another. This means that the device is designed to set asymmetrical limit values.
[0009] A vehicle may be provided which comprises the steering device.
[0010] The method for operating a steering device provides that the steering device includes: a rack; an electric motor for setting a position of the rack; a first controller for controlling the electric motor as a function of a deviation between an actual position of the rack and a setpoint position of the rack; and a second controller for controlling the electric motor as a function of a deviation between the actual position and the setpoint position, wherein, as a function of the deviation between the actual value and the setpoint value, switching is made from the control of the electric motor by the first controller to the control of the electric motor by the second controller, wherein the actual value is the actual position of the rack and the setpoint value is the setpoint position of the rack, or the actual value is a derivative of the actual position of the rack and the setpoint value is determined as a function of the difference between the actual position and the setpoint position of the rack.
[0011] The method may provide for monitoring a deviation of the actual value from the setpoint value and, depending on the deviation, switching from actuation of the electric motor by the first controller to actuation of the electric motor by the second controller.
[0012] The method may provide for comparing the deviation of the actual value from the setpoint value with a limit value and switching the control of the electric motor from the first controller to the second controller if the deviation of the actual value from the setpoint value is greater than the limit value.
[0013] It may be provided that the method provides for determining a limit value as a function of a deviation of the actual value from the setpoint value, thereby adjusting the limit value as a function of the deviation of the actual value from the setpoint value.
[0014] It can be provided that the method provides for determining increasingly narrower limit values as the deviation of the actual value from the setpoint value increases. This means that the limit values are set more sensitively as the deviation of the actual value from the setpoint value increases.
[0015] The method may provide for determining, for deviations of the actual value from the setpoint value, a limit value for a positive deviation of the actual value from the setpoint value and a limit value for a negative deviation of the actual value from the setpoint value. These limit values may be identical or different from one another. This results in asymmetrical limit values being set. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Other advantageous embodiments can be seen from the following description and the accompanying drawings. In the drawings:
[0017] Figure 1 A schematic diagram of a vehicle with a steering device is shown,
[0018] Figure 2 An exemplary first regulator of a steering device is shown,
[0019] Figure 3 An exemplary second regulator of the steering device is shown,
[0020] Figure 4 A flow chart with the steps of a method for operating a steering device is shown. DETAILED DESCRIPTION
[0021] Figure 1 Schematically, a vehicle 100 is shown having a steering device 102 . The steering device 102 is designed to steer steerable wheels 104 of the vehicle 100 .
[0022] The steering device 102 includes a rack 106 , which is configured to steer the steered wheels 104 .
[0023] The steering device 102 includes an electric motor 108 for setting the position of the rack 106 .
[0024] The steering device 102 includes a first controller 110 for controlling the electric motor 108. The steering device 102 includes a second controller 112 for controlling the electric motor 108. The steering device 102 includes a mechanism 114 for switching control of the electric motor 108 from the first controller 110 to the second controller 112.
[0025] First controller 110 is designed to control electric motor 108 as a function of a deviation 116 of an actual position 118 of toothed rack 106 from a setpoint position 120 of the toothed rack.
[0026] Second controller 112 is designed to control electric motor 108 as a function of a deviation 116 between an actual position 118 of toothed rack 106 and a setpoint position 120 of toothed rack 106 .
[0027] The device 114 is designed to switch from the control of the electric motor 108 by the first controller 110 to the control of the electric motor 108 by the second controller 112 as a function of a deviation 116 ′ between the actual value and the setpoint value.
[0028] In one example, the actual value is an actual position 118 of the rack 106 , and the setpoint value is a setpoint position 120 of the rack 106 .
[0029] In one example, the actual value is a derivative of an actual position 118 of the rack 106 , and the setpoint value is determined based on a difference between the actual position 118 and the setpoint position 120 .
[0030] In this example, steering device 120 includes a calculation device 122 , which is designed to determine deviation 116 of actual position 118 from setpoint position 120 .
[0031] In one example, calculation device 122 is configured to determine deviation 116 of actual position 118 from setpoint position 120 by forming a difference between actual position 118 and setpoint position 120 .
[0032] In one example, calculation device 112 is designed to determine a deviation 116 ′ between an actual value and a setpoint value.
[0033] In one example, the actual value is an actual position 118 of the rack 106 , and the setpoint value is a setpoint position 120 of the rack 106 .
[0034] In one example, the actual value is a derivative of an actual position 118 of the rack 106 , and the setpoint value is determined based on a difference between the actual position and a setpoint position 120 of the rack 106 .
[0035] Device 114 is designed to monitor a deviation 116 ′ between an actual value and a setpoint value and, as a function of deviation 116 ′, to switch from actuation of electric motor 108 by first controller 110 to actuation of electric motor 108 by second controller 112 .
[0036] In this example, the mechanism 114 includes a switch 124 , which is designed to switch from the control of the electric motor 108 by the first controller 110 to the control of the electric motor 108 by the second controller 112 in response to a switching signal 126 .
[0037] In this example, device 114 includes a monitoring device 128 which is designed to monitor a deviation 116 ′ between an actual value and a setpoint value and to determine a switching signal 126 as a function of deviation 116 in order to switch from the control of electric motor 108 by first controller 110 to the control of electric motor 108 by second controller 112 .
[0038] It can be provided that the device 114, in this example the monitoring device 128, is constructed to compare the deviation 116' of the actual value from the setpoint value with a limit value and, if the deviation 116' of the actual value from the setpoint value is greater than the limit value, switch the control of the electric motor 108 from the first regulator 110 to the control of the electric motor 108 by the second regulator 112.
[0039] It may be provided that the device 114 , in this example the monitoring device 128 , is designed to determine a limit value as a function of a deviation 116 ′ of the actual value from the setpoint value.
[0040] It may be provided that the device 114 , in this example the monitoring device 128 , is designed to determine a limit value as a function of a difference between the actual position 118 determined by the calculation device 122 and the setpoint position 120 .
[0041] It may be provided that the device 114 , in this example the monitoring device 128 , is designed to determine increasingly narrower limit values as the deviation 116 ′ of the actual value from the setpoint value increases.
[0042] It may be provided that the device 114 , in this example the monitoring device 128 , is designed to determine a limit value for a positive deviation 116 ′ of the actual value from the setpoint value and a limit value for a negative deviation 116 ′ of the actual value from the setpoint value.
[0043] For example, a limit value for a positive deviation 116' of the actual value from the setpoint value is different from a limit value for a negative deviation 116' of the actual value from the setpoint value. In this example, the limit value is defined such that as long as the deviation 116' of the actual value from the setpoint value is within the limit value, the speed of the rack 106 is within the acceptable range. In this example, the limit value is defined such that the mechanism 114 is configured to switch if the speed of the rack 106 leaves the acceptable range.
[0044] In this example, first controller 110 is designed to determine a first setpoint motor torque 130 for actuating electric motor 108 as a function of a deviation 116 between an actual position 118 and a setpoint position 120 .
[0045] In this example, second controller 112 is designed to determine a second setpoint motor torque 132 for actuating electric motor 108 as a function of a deviation 116 between actual position 118 and setpoint position 120 .
[0046] In this example, electric motor 108 is actuated either with first setpoint motor torque 130 or with second setpoint motor torque 132 , depending on the position of switch 124 .
[0047] Figure 2 1 shows an example of a first controller 110. For example, the first controller 110 is configured to regulate the first setpoint motor torque 130 using a first torque controller 206 as a function of a deviation 202 of an actual value 134 from a setpoint value 204. In this example, the first torque controller 206 is a PID controller. The first controller 110 and the second controller 112 are different from each other. The first controller 110 and the second controller 112 are preferably different from each other so that a single fault does not result in a fault in the motor torque of both controllers.
[0048] In this example, first controller 110 is designed to determine a setpoint value 204 as a function of deviation 116 between actual position 118 and setpoint position 120. In this example, first controller 110 is designed to determine setpoint value 204 from a characteristic curve 208 that assigns setpoint value 204 to deviation 116. It may be provided that characteristic curve 208 is selected from a set 210 of characteristic curves as a function of deviation 116 between actual position 118 and setpoint position 120.
[0049] Figure 3 1 shows an example of second controller 112. Second controller 112 is designed, for example, to regulate second setpoint motor torque 132 using second torque controller 302 as a function of deviation 116 of actual value 118 from setpoint value 120. Second torque controller 302 is a PID controller in this example.
[0050] Figure 4 The steps of a method for operating the steering device 102 are shown in .
[0051] The method includes step 402 .
[0052] In step 402 , electric motor 108 is controlled by first controller 110 as a function of deviation 116 between actual position 118 and setpoint position 120 .
[0053] The method includes step 404 .
[0054] In step 404 , it is determined whether a switch 408 is to be made from the actuation of electric motor 108 by first controller 110 to the actuation of electric motor 108 by second controller 112 .
[0055] If it is confirmed that the control of electric motor 108 by first controller 110 is to be switched to the control of electric motor 108 by second controller 112 408 , step 406 is carried out. Otherwise, step 402 is carried out.
[0056] For example, the deviation 116' of the actual value from the setpoint value is monitored.
[0057] For example, actual value / setpoint deviation 116 ′ is compared with a limit value and it is determined that if actual value / setpoint deviation 116 ′ is greater than the limit value, control of electric motor 108 by first controller 110 should be switched to control of electric motor 108 by second controller 112 408 .
[0058] It may be provided that the limit value is determined as a function of the deviation 116 ′ of the actual value from the setpoint value. It may be provided that, as the deviation 116 ′ of the actual value from the setpoint value increases, increasingly narrower limit values are determined.
[0059] Provision may be made for determining the limit value as a function of deviation 116 of actual position 118 of rack 106 from setpoint position 120 of rack 106. Provision may be made for increasingly narrower limit values to be determined as deviation 116 of actual position 118 of rack 106 from setpoint position 120 of rack 106 increases.
[0060] In one example, for deviations 116 ′ of the actual value from the setpoint value, limit values for positive deviations 116 ′ of the actual value from the setpoint value and limit values for positive and negative deviations 116 ′ of the actual value from the setpoint value are determined, wherein these limit values differ from one another. This means that asymmetrical limit values are used.
[0061] In this example, the limit value is defined such that as long as the deviation 116' of the actual value from the setpoint value is within the limit value, the speed of the rack 106 is within the acceptable range. This means that if the speed of the rack 106 leaves the acceptable range, a switchover is performed.
[0062] In step 406 , a switch 408 occurs from the actuation of electric motor 108 by first controller 110 to the actuation of electric motor 108 by second controller 112 .
[0063] This means that it can be provided that a deviation 116 ′ of the actual value from the setpoint value is monitored and that, depending on the deviation 116 , in particular increasingly narrow limit values are determined.
[0064] This means that it may be provided that a deviation 116 ′ of the actual value from the setpoint value is monitored and that, depending on the deviation 116 ′, the control of the electric motor 108 by the first controller 110 is switched to the control of the electric motor 108 by the second controller 112 .
[0065] This means that it can be provided that the deviation 116 ′ of the actual value from the setpoint is monitored and that a switchover occurs when a positive deviation 116 ′ of the actual value from the setpoint is greater than a positive deviation limit value or when a negative deviation 116 ′ of the actual value from the setpoint is greater than a negative deviation limit value.
[0066] Next, step 408 is performed.
[0067] In step 408 , electric motor 108 is controlled by second controller 112 as a function of deviation 116 between actual position 118 and setpoint position 120 .
Claims
1. A steering device (102), characterized in that: The steering device (102) comprises: a rack (106); an electric motor (108) for setting the position of the rack (106); a first regulator (110) for controlling the electric motor (108) according to a deviation (116) between an actual position (118) of the rack (106) and a rated position (120) of the rack (106); a second regulator (112) for controlling the electric motor (108) according to the deviation (116) between the actual position (118) and the rated position (120); and a mechanism (114) for switching the control of the electric motor (108) by the first regulator (110) to the control by the second regulator (112). 2) controlling the electric motor (108), wherein the device (114) is configured to switch from controlling the electric motor (108) by the first controller (110) to controlling the electric motor (108) by the second controller (112) as a function of a deviation (116') of an actual value from a setpoint value, wherein the actual value is an actual position (118) of the rack (106) and the setpoint value is a setpoint position (120) of the rack (106), or the actual value is a derivative of the actual position (118) of the rack (106) and the setpoint value is determined as a function of a difference between the actual position and the setpoint position (120) of the rack (106).
2. The steering device (102) according to claim 1, characterized in that The device (114) is configured to monitor a deviation (116') of the actual value from the setpoint value and, depending on the deviation (116') of the actual value from the setpoint value, switch from controlling the electric motor (108) by the first controller (110) to controlling the electric motor (108) by the second controller (112).
3. The steering device (102) according to claim 2, characterized in that The device (114) is configured to compare a deviation (116') of the actual value from the setpoint value with a limit value and, if the deviation (116') of the actual value from the setpoint value is greater than the limit value, switch the control of the electric motor (108) from the first controller (110) to the control of the electric motor (108) by the second controller (112).
4. The steering device (102) according to claim 3, characterized in that The device (114) is designed to determine the limit value as a function of a deviation (116') of the actual value from the setpoint value.
5. The steering device (102) according to claim 4, characterized in that The device (114) is designed to determine increasingly narrower limit values as the deviation (116') of the actual value from the setpoint value increases.
6. The steering device (102) according to any one of claims 3 to 5, characterized in that The mechanism (114) is configured to determine, for a deviation (116') of the actual value from the setpoint value, a limit value for a positive deviation (116') of the actual value from the setpoint value and a limit value for a negative deviation (116') of the actual value from the setpoint value.
7. A vehicle (100), characterized in that The vehicle (100) comprises a steering device (102) according to any one of claims 1 to 6.
8. A method for operating a steering device (102), characterized in that The steering device (102) comprises: a rack (106); an electric motor (108) for setting the position of the rack (106); a first regulator (110) for controlling the electric motor (108) according to a deviation (116) between an actual position (118) of the rack (106) and a rated position (120) of the rack (106); and a second regulator (112) for controlling the electric motor (108) according to a deviation (116) between the actual position (118) and the rated position (120), wherein the deviation (116) between the actual value and the rated value is set. 6'), switching (404) from the control (402) of the electric motor (108) by the first regulator (110) to the control (408) of the electric motor (108) by the second regulator (112), wherein the actual value is the actual position (118) of the rack (106) and the setpoint value is the setpoint position (120) of the rack (106), or the actual value is a derivative of the actual position (118) of the rack (106) and the setpoint value is determined as a function of the difference between the actual position and the setpoint position (120) of the rack (106).
9. The method according to claim 8, characterized in that A deviation (116') of the actual value from the setpoint value is monitored (404) and, depending on the deviation (116') of the actual value from the setpoint value, control of the electric motor (108) by the first controller (110) is switched (406) to control of the electric motor (108) by the second controller (112).
10. The method according to claim 9, characterized in that The deviation (116') of the actual value from the setpoint value is compared (404) with a limit value, and if the deviation (116') of the actual value from the setpoint value is greater than the limit value, switching (406) from the control of the electric motor (108) by the first controller (110) to the control of the electric motor (108) by the second controller (112) is performed.
11. The method according to claim 10, characterized in that The limit value is determined (404) based on a deviation (116') of the actual value from the setpoint value.
12. The method according to claim 11, characterized in that As the deviation (116') of the actual value from the setpoint value increases, increasingly narrower limit values are determined (404).
13. The method according to any one of claims 10 to 12, characterized in that For a deviation (116') of the actual value from the setpoint value, a limit value for a positive deviation (116') of the actual value from the setpoint value and a negative deviation (116') of the actual value from the setpoint value are determined (404).