Input / output device and steering measurement device

Abstract

This input / output device (3) comprises: a vibration factor estimating unit (32) that is communicably connected to a control device for controlling a rotary machine provided to an electric power steering device for generating a steering assisting force on the steering provided in a vehicle, acquires, during a steering operation on the steering, response data indicating a response to the steering operation of the electric power steering device, which is detected by the control device, extracts a feature amount related to vibration or noise generated during the steering operation on the steering from the response data, and estimates a vibration factor candidate that is a candidate of the vibration factor on the basis of the feature amount; and an output unit (33) that outputs the vibration factor candidate.

Description

Technical Field

[0001] The present disclosure relates to an input / output device and a steering measurement device.

Background Art

[0002] An electric power steering apparatus includes a rotating machine (motor) that generates a steering assist torque with respect to steering, and a control device that controls the rotating machine, and adds a steering assist force to a steering mechanism of a vehicle such as an automobile. A steering measurement device is a device for performing a measurement test for identifying the mechanical constants of such an electric power steering apparatus.

[0003] Patent Document 1 below discloses a conventional steering measurement device including an input / output device that inputs and outputs signals for identifying the characteristics of steering, and a control device that controls a rotating machine provided in an electric power steering apparatus. In this steering measurement device, the input / output device outputs a vibration excitation instruction to the control device to vibrate the rotating machine, and acquires response data and a vibration excitation command obtained thereby. Then, the input / output device identifies the mechanical constants of the electric power steering apparatus based on the acquired response data and the vibration excitation command, and derives control constants from the identified mechanical constants.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, when steering, vibrations may occur due to various factors. Therefore, in order to suppress such vibrations, it is necessary to appropriately set the controller provided in the control device that controls the rotating machine according to the cause of the vibration. For example, when vibrating due to disturbances generated by the structure of the steering gear or motor, road surface disturbances, etc., it is necessary to set the controller in consideration of the disturbance transfer characteristics of the controller. Also, when vibrating due to poor stability of the controller, it is necessary to set the controller in consideration of the stability of the controller.

[0006] Further, even when the mechanical characteristics, frequency characteristics, or noise characteristics of the steering are identified and the controller is set in consideration of the identification results, vibrations or noises may occur due to identification errors or unintended disturbances. In such a case, it is necessary to review the setting of the controller again. However, it takes a great deal of time and effort for the user (tester) to analyze the cause of the vibration each time it occurs, and there is a problem that the man-hours required for setting the controller increase.

[0007] Also, as a method of adjusting the setting parameters of the controller, a method of adjusting by trial and error without specifying the cause of the vibration can be considered. However, a controller whose setting parameters are adjusted without knowing the cause of the vibration may not be a fundamental measure against vibration. For this reason, ultimately, there is a problem that the vibration cannot be suppressed or a great deal of time is required for the adjustment to suppress the vibration.

[0008] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide an input / output device and a steering measurement device capable of analyzing and estimating the cause of vibration without requiring a great deal of time or a great deal of labor.

Means for Solving the Problems

[0009] In order to solve the above problems, an input / output device according to an aspect of the present disclosure is communicably connected to a control device for controlling a rotary machine provided in an electric power steering device for generating a steering assist force for a steering provided in a vehicle, acquires response data indicating a response of the electric power steering device to steering detected by the control device during steering of the steering, extracts a feature amount related to vibration or noise generated during steering of the steering from the response data, and estimates a vibration factor candidate that is a candidate for the vibration factor based on the feature amount, and an output unit that outputs the vibration factor candidate.

[0010] Further, a steering measurement device according to an aspect of the present disclosure includes the above input / output device and a control device for controlling a rotary machine provided in an electric power steering device for generating a steering assist force for a steering provided in a vehicle, which is communicably connected to the input / output device, and the control device transmits the response of the electric power steering device detected when the steering is steered to the input / output device as the response data.

Advantages of the Invention

[0011] According to the present disclosure, there is an effect that the vibration factor can be analyzed and estimated without requiring a large amount of time or labor. As a result, it is not necessary for the user (tester) to separately analyze the vibration factor, the controller can be set according to the vibration factor, and the man-hours required for setting the controller can be reduced.

Brief Description of the Drawings

[0012]

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Embodiments for Carrying Out the Invention

[0013] Hereinafter, with reference to the drawings, the input / output device and the steering measurement device according to the embodiments of the present disclosure will be described in detail.

[0014] [Embodiment 1] FIG. 1 is a configuration diagram showing a steering measurement device and an electric power steering device according to Embodiment 1 of the present disclosure. As shown in FIG. 1, the electric power steering device 50 includes a steering wheel 51, a steering shaft 53, a rack and pinion gear 54, a wheel 55, a tie rod 56, a knuckle arm 57, a torque detector 22, a rotation detector 23, a rotary machine 1, and a control device 2.

[0015] The hardware configuration of the electric power steering device 50 is the same as that of a conventional electric power steering device and is mounted on a vehicle for mass production. However, in addition to the function of controlling the rotary machine 1 to generate an assist torque according to the driver's steering operation, the control device 2 is added with a function of transmitting the response of the electric power steering device 50 detected during steering to the input / output device 3 as response data. In addition, the above response data includes the rotation speed and steering torque detected by the rotation detector 23 and the torque detector 22, and the current detected by a current detector 21 described later. The details of the function added to the control device 2 will be described later.

[0016] The steering measurement device 60 according to this embodiment is a device for estimating vibration factors during steering operation. This steering measurement device 60 is composed of a control device 2, a torque detector 22, and a rotation detector 23 provided in the electric power steering device 50, and an input / output device 3 connected to the control device 2 by a communication line 4. The communication line 4 constitutes a part of an in-vehicle communication network mounted on the vehicle. Here, the in-vehicle communication network may be, for example, CAN (Controller Area Network) (registered trademark), FlexRay (registered trademark), Ethernet (registered trademark), etc. As the communication line 4, an in-vehicle communication network cable corresponding to the type of in-vehicle communication network mounted on the vehicle may be used.

[0017] Next, the electric power steering device 50 and the steering measurement device 60 will be described in detail. Hereinafter, first, the details of the electric power steering device 50 will be described, and then, the details of the control device 2 and the input / output device 3 included in the steering measurement device 60 will be described.

[0018] 〈Electric Power Steering Device〉 The steering wheel 51 is a so-called handle and is operated by a driver (not shown) of the vehicle to give a steering angle to the steering wheel (wheel 55) of the vehicle. The steering shaft 53 is composed of an input shaft 53a connected to the steering wheel 51 side and an output shaft 53b connected to the rack and pinion gear 54 side. The input shaft 53a and the output shaft 53b are connected to each other by a torsion bar (not shown).

[0019] The torsion bar is disposed within the torque detector 22 and penetrates the torque detector 22 in the axial direction. The torsion bar is twisted in response to the steering torque applied to the steering wheel 51 by the driver's operation, and the torque detector 22 detects the direction and amount of this twist. Hereinafter, the steering wheel 51, the steering shaft 53, and the torsion bar will be collectively referred to as the "steering".

[0020] The rack and pinion gear 54 includes a pinion gear (not shown) attached to the tip of the output shaft 53b and a rack (not shown) meshing with the pinion gear, and converts the rotational motion of the pinion gear into a reciprocating motion. The rack and the wheel 55 are connected via the tie rod 56 and the knuckle arm 57.

[0021] The torque detector 22 detects the steering torque applied to the torsion bar when the driver steers the steering wheel 51. When the steering torque is applied, the torsion bar is twisted in proportion to the steering torque. The torque detector 22 detects this twist angle and converts it into the steering torque. The rotation detector 23 is attached to the rotating shaft of the rotary machine 1 and detects the rotational speed of the rotating shaft.

[0022] The rotary machine 1 generates an assist steering torque for the steering under the control of the control device 2. The rotary machine 1 is composed of, for example, an AC motor such as a permanent magnet type synchronous motor or an induction motor, or a DC motor. The control device 2 controls the rotary machine 1 based on the steering torque converted by the torque detector 22 and the rotational speed detected by the rotation detector 23 to generate an assist steering torque for the steering.

[0023] Next, the operation of the electric power steering apparatus 50 will be described. In FIG. 1, when a steering torque is applied to the steering wheel 51 by a driver's steering operation, the steering torque is transmitted through the torsion bar and the steering shaft 53 in the torque detector 22 to the rack and pinion gear 54. Further, the steering torque is transmitted through the rack and pinion gear 54 to the rack in the rack and pinion gear 54. Then, on one side wheel 55, the tie rod 56 pushes the knuckle arm 57, and on the opposite side wheel 55, the tie rod 56 pulls the knuckle arm 57, so that a steering angle is given to the wheels 55 and the wheels 55 are steered.

[0024] On the other hand, when a steering torque is applied to the steering wheel 51 by a driver's steering operation, the steering torque is detected by the torque detector 22. Specifically, when a steering torque is applied, torsion approximately proportional to the steering torque occurs in the torsion bar, and the twist angle is detected by the torque detector 22 and converted into the steering torque. Also, the rotational speed of the rotating shaft of the rotary machine 1 is detected by the rotation detector 23.

[0025] The steering torque converted by the torque detector 22 and the rotational speed detected by the rotation detector 23 are input to the control device 2, and a current command corresponding to the steering assist torque to be generated in the rotary machine 1 is determined according to these signals. Then, a current corresponding to the determined current command is supplied to the rotary machine 1, and a steering assist torque for steering is generated from the rotary machine 1. The steering assist torque generated from the rotary machine 1 is transmitted to the steering shaft 53 and reduces the steering torque applied by the driver during steering. The electric power steering apparatus 50 mounted on the vehicle is configured in this way, and applies the steering assist force by the rotary machine 1 to the steering wheel 51 and functions as an operation assist device.

[0026] <Steering Measurement Device> <Control Device> FIG. 2 is a block diagram showing a main configuration of a control device included in the steering measurement device according to Embodiment 1 of the present disclosure. As shown in FIG. 2, the control device 2 includes a current detector 21, a torque detector 22, a rotation detector 23, a power supply unit 24, and a communication transmission unit 25. Among the components of the control device 2, the torque detector 22, the rotation detector 23, and the power supply unit 24 can be reused from those provided in a general control device of the electric power steering device 50.

[0027] The current detector 21 detects the current flowing through the rotary machine 1 when a voltage is applied to the rotary machine 1 from the power supply unit 24. Since the torque detector 22 and the rotation detector 23 are the same as those described in the description of the electric power steering device 50, the description thereof is omitted here.

[0028] The power supply unit 24 determines a current command corresponding to the steering assist torque to be generated in the rotary machine 1 according to the steering torque signal detected by the torque detector 22 and the rotational speed signal detected by the rotation detector 23. The power supply unit 24 generates a voltage command for controlling the current supplied to the rotary machine 1 based on the determined current command and the current signal detected by the current detector 21. Then, the power supply unit 24 applies a voltage to the rotary machine 1 by a drive circuit (not shown) according to the generated voltage command, thereby generating the above-described steering assist torque in the rotary machine 1.

[0029] The communication transmission unit 25 transmits the response data obtained by steering to the input / output device 3. Note that the response data includes the current (current detection value) detected by the current detector 21, the rotational speed (rotational speed detection value) detected by the rotation detector 23, and the steering torque (steering torque detection value) detected by the torque detector 22, as described above.

[0030] 《Input / Output Device》 FIG. 3 is a block diagram showing the main configuration of the input / output device included in the steering measurement device according to Embodiment 1 of the present disclosure. As shown in FIG. 3, the input / output device 3 includes a communication reception unit 31, a vibration factor estimation unit 32, an output unit 33, a display unit 34, and a microphone 35 (sound detector). Such an input / output device 3 performs various processes based on the response data received by the communication reception unit 31 and the sound data detected by the microphone 35.

[0031] The communication reception unit 31 receives the response data transmitted from the control device 2 via the communication line 4. The communication reception unit 31 outputs the received response data to the vibration factor estimation unit 32 and the output unit 33. Based on the response data output from the communication reception unit 31, the vibration factor estimation unit 32 calculates the feature amount of the vibration included in the response data, and estimates the vibration factor based on the calculated feature amount. The vibration factor estimation unit 32 sets the estimated vibration factor as a vibration factor candidate, and outputs the feature amount and the vibration factor candidate to the output unit 33. The details of the vibration factor estimation unit 32 will be described later.

[0032] The microphone 35 detects the sound generated inside the vehicle during the steering of the steering, and outputs the detected sound as sound data to the output unit 33. The microphone 35 is provided to enable confirmation of noise not only from the response data but also from the sound data.

[0033] The output unit 33 outputs, as output data, one or more data including at least the vibration factor candidate among the response data output from the communication reception unit 31, the vibration factor candidate and the feature amount output from the vibration factor estimation unit 32, and the sound data output from the microphone 35. The output unit 33 outputs the above output data in any of numerical format, character format, and graphic format. The display unit 34 displays the output data output from the output unit 33.

[0034] As the hardware constituting the input / output device 3, for example, a computer such as a tablet computer or a notebook computer can be used. When using these computers, the display and microphone provided in these computers can be used as the display unit 34 and the microphone 35 shown in FIG. 3. When a microphone is not built in these computers, or when a high-performance microphone is desired, a microphone or a noise meter may be separately prepared and connected. Incidentally, the output data output from the output unit 33 may be saved in a format (for example, text format) that can be confirmed by the user, or output to the outside.

[0035] FIG. 4 is a block diagram showing the internal configuration of the vibration factor estimation unit in Embodiment 1 of the present disclosure. As shown in FIG. 4, the vibration factor estimation unit 32 includes a feature quantity calculation unit 321 and a vibration classification unit 322. The feature quantity calculation unit 321 extracts and quantifies, as a feature quantity, a quantity indicating the feature of vibration from the response data. The feature quantities include "switching ripple", "amplitude of main vibration", "frequency of main vibration", "appearance of rotation synchronous disturbance", "order of rotation synchronous disturbance", "peak amplitude of high frequency", and "peak frequency of high frequency" in each of the steering torque detection value, current detection value, and rotation speed detection value when vibration occurs.

[0036] FIG. 5 is a diagram showing the feature quantities used for vibration factor estimation in Embodiment 1 of the present disclosure. In the vibration factor estimation unit 32, the feature quantities used for vibration factor estimation are 16 items shown in FIG. 5. Specifically, they are the items shown below. · Steering torque detection value (7 items): "switching ripple", "amplitude of main vibration", "frequency of main vibration", "appearance of rotation synchronous disturbance", "order of rotation synchronous disturbance", "peak amplitude of high frequency", "peak frequency of high frequency". · Current detection value (5 items): "amplitude of main vibration", "appearance of rotation synchronous disturbance", "order of rotation synchronous disturbance", "peak amplitude of high frequency", "peak frequency of high frequency". · Rotation speed detection values (4 items): "Frequency of main vibration", "Degree of rotational synchronous disturbance", "Order of rotational synchronous disturbance", "Peak frequency of high frequency".

[0037] FIG. 6 is a diagram showing frequency thresholds for vibration factor estimation in Embodiment 1 of the present disclosure. In extracting feature quantities and classifying vibration factors, the frequency of vibration becomes important information. In order to classify by the frequency of vibration, frequency thresholds f_th1, f_th2, f_th3 shown in FIG. 6 are set. Here, in FIG. 6, fsp is the disturbance transmission peak frequency, fgc is the gain crossover frequency, and fpc is the phase crossover frequency. These frequencies are frequencies determined by the characteristics of the controller and the steering.

[0038] The frequency thresholds f_th1, f_th2, f_th3 are defined by the following equations. f_th1 = (fsp + fgc) / 2 f_th2 = (fgc + fpc) / 2 f_th3 = min(fpc + fα, fn) Here, min in the above equation means selecting the smaller number among the numbers in the parentheses. Also, fα in the above equation is the phase crossover frequency threshold margin, and fn is the sensor noise threshold frequency.

[0039] The frequency threshold f_th1 is a frequency threshold for classifying deterioration of disturbance transmission characteristics and deterioration of phase margin. The frequency threshold f_th2 is a frequency threshold for classifying deterioration of phase margin and deterioration of gain margin. The frequency threshold f_th3 is a frequency threshold for classifying deterioration of gain margin and sensor noise. The phase crossover frequency threshold margin fα and the sensor noise threshold frequency fn may be set from the maximum frequency of gain margin deterioration vibration that can occur from past cases, etc., or the noise frequency that can occur as a problem.

[0040] Next, each feature quantity will be specifically described. · "Switching ripple" The switching ripple is a feature quantity extracted only from the detected steering torque value, as shown in Fig. 5, and indicates the difference between the maximum value and the minimum value of the detected steering torque value immediately after the sign change of the detected rotational speed value. If the frequency calculated from the interval between the maximum value and the minimum value is below the threshold set based on the frequency threshold f_th1, it is extracted as the switching ripple.

[0041] · "Amplitude of the main vibration", "Frequency of the main vibration" The amplitude of the main vibration is a feature quantity extracted from two values, the detected steering torque value and the detected current value, and the frequency of the main vibration is a feature quantity extracted from two values, the detected steering torque value and the detected rotational speed value. The amplitude of the main vibration and the frequency of the main vibration respectively indicate the amplitude and frequency of the vibration with the maximum amplitude among those obtained by performing a short-time Fourier transform on the vibrating parts of the respective detected values.

[0042] Here, the short-time Fourier transform is a process of extracting the amplitude of each frequency at each moment. Specifically, the short-time Fourier transform is a process of creating frame data obtained by trimming the vibration waveform by a time width t_frame multiple times while shifting the time, and performing FFT (Fast Fourier Transform) with a window function on each created frame data. By performing such a short-time Fourier transform, 3D data (color map) of [time, frequency, amplitude] can be obtained.

[0043] The frequency resolution df at this time is expressed by the following formula, where the sampling time of the response data is ts. df = 1 / ts * t_frame

[0044] · "Degree of rotational synchronous disturbance", "Order of rotational synchronous disturbance" The rotational synchronous disturbance likelihood and the rotational synchronous disturbance order are feature quantities extracted from three values: the detected steering torque value, the detected current value, and the detected rotational speed value. The rotational synchronous disturbance likelihood is a feature quantity used to determine whether the vibration has a frequency proportional to the speed of the rotating machine (hereinafter referred to as "rotational synchronous vibration"). The rotational synchronous disturbance order is a value indicating the proportional coefficient between the vibration frequency and the speed when it is assumed that the vibration is rotational synchronous vibration.

[0045] The rotational synchronous disturbance likelihood RateN can be calculated, for example, using the speed ω(t) at time t and the frequency ft(t) of the main vibration at time t obtained by short-time Fourier transform. The rotational synchronous disturbance likelihood RateN is defined by the correlation coefficient between ft(t) and ω(t) at the surrounding time t of the vibrating part. When the value of the rotational synchronous disturbance likelihood RateN is close to 1, since the correlation between ft(t) and ω(t) is high, it can be determined that the frequency changes according to the speed, and it can be determined that it is a rotational synchronous disturbance.

[0046] Alternatively, without using the correlation coefficient, the rotational synchronous disturbance likelihood RateN may be defined from the variance of ft(t) at the surrounding time t of the vibrating part and the variance of the rotational synchronous disturbance order Nt(t) which is the proportional coefficient between ft(t) and ω(t) as follows. Here, var in the following formula means the variance value of the number in the parentheses. RateN = var(ft(t)) / var(Nt(t))

[0047] If the vibration is rotational synchronous vibration, Nt(t) becomes a value close to a constant value, so the variance becomes small. If the vibration is a constant-frequency vibration such as oscillation due to deterioration of stability, ft(t) becomes a value close to a constant value, so the variance becomes small. That is, if the vibration is rotational synchronous vibration, RateN becomes large, and if the vibration is a constant-frequency vibration, RateN becomes small.

[0048] · "High-frequency peak amplitude", "high-frequency peak frequency" The peak amplitude of the high frequency is a feature quantity extracted from two values, i.e., the detected steering torque value and the detected current value. The peak frequency of the high frequency is a feature quantity extracted from three values, i.e., the detected steering torque value, the detected current value, and the detected rotational speed value. The peak amplitude of the high frequency and the peak frequency of the high frequency are each feature quantities indicating the amplitude and frequency of the vibration with the maximum amplitude among the high frequency components exceeding the frequency threshold f_th3 in the data obtained by short-time Fourier transform, and are extracted together with the time when the vibration occurs. The peak amplitude of the high frequency is used to judge the magnitude of the noise. The peak frequency and time of the high frequency are used to identify which of the torque sensor and the speed sensor contributes to the noise by examining the similarity between the detected current value, the detected steering torque value, and the detected rotational speed value.

[0049] The feature quantity calculation unit 321 extracts the above-described feature quantities from the response data, with the quantity indicating the feature of the vibration as the feature quantity. Then, the feature quantity calculation unit 321 outputs the extracted feature quantities to the vibration classification unit 322. The vibration classification unit 322 classifies the candidate causes of the vibration based on the feature quantities output from the feature quantity calculation unit 321.

[0050] FIG. 7 is a flowchart showing the processing performed by the vibration classification unit in the primary embodiment of the present disclosure. The processing of the flowchart shown in FIG. 7 is performed each time a feature quantity is output from the feature quantity calculation unit 321. When the processing of the flowchart shown in FIG. 7 is started, the vibration classification unit 322 sequentially determines whether the "conditional expressions 1" to "conditional expressions 9" shown in FIG. 8 are satisfied (steps S11 to S19).

[0051] FIG. 8 is a diagram showing conditional expressions used in the processing of the vibration classification unit in Embodiment 1 of the present disclosure. As shown in the left column of FIG. 8, "Conditional Expression 1" is a conditional expression for determining a switching disturbance, "Conditional Expression 2" is a conditional expression for determining rotational sensor noise (rotation synchronization), and "Conditional Expression 3" is a conditional expression for determining a disturbance (rotation synchronization). Also, "Conditional Expression 4" is a conditional expression for determining a disturbance (rotation asynchronous), "Conditional Expression 5" is a conditional expression for determining oscillation (phase margin degradation), and "Conditional Expression 6" is a conditional expression for determining oscillation (gain margin degradation). Also, "Conditional Expression 7" is a conditional expression for determining TSM noise, "Conditional Expression 8" is a conditional expression for determining rotational sensor noise (high frequency), and "Conditional Expression 9" is a conditional expression for determining an unknown cause.

[0052] The specific contents of "Conditional Expression 1" to "Conditional Expression 9" are defined in the central column and the right column of FIG. 8. For example, in "Conditional Expression 1", it is defined that "the right expression (Tturn2 ≧ Tturn2_th) is satisfied". In the right column of FIG. 8, a variable with a subscript (th) is a feature amount threshold value in each conditional expression. This feature amount threshold value may be set by referring to past vibration case data or the like or learning data, and a value that can perform classification therein.

[0053] When it is determined that "Conditional Expression 1" shown in FIG. 8 is satisfied (when the determination result in step S11 is "YES"), the feature amount calculation unit 321 assumes that the vibration cause candidate is "switching disturbance" (step S21). When it is determined that "Conditional Expression 2" shown in FIG. 8 is satisfied (when the determination result in step S12 is "YES"), the feature amount calculation unit 321 assumes that the vibration cause candidate is "rotational sensor noise (rotation synchronization)" (step S22). When it is determined that "Conditional Expression 3" shown in FIG. 8 is satisfied (when the determination result in step S13 is "YES"), the feature amount calculation unit 321 assumes that the vibration cause candidate is "disturbance (rotation synchronization)" (step S23).

[0054] When it is determined that the "conditional expression 4" shown in FIG. 8 is satisfied (when the determination result in step S14 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "disturbance (rotational asynchronous)" (step S24). When it is determined that the "conditional expression 5" shown in FIG. 8 is satisfied (when the determination result in step S15 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "oscillation (phase margin deterioration)" (step S25). When it is determined that the "conditional expression 6" shown in FIG. 8 is satisfied (when the determination result in step S16 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "oscillation (gain margin deterioration)" (step S26).

[0055] When it is determined that the "conditional expression 7" shown in FIG. 8 is satisfied (when the determination result in step S17 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "TSM noise" (step S27). When it is determined that the "conditional expression 8" shown in FIG. 8 is satisfied (when the determination result in step S18 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "rotation sensor noise (high frequency)" (step S28). When it is determined that the "conditional expression 9" shown in FIG. 8 is satisfied (when the determination result in step S19 is "YES"), the feature quantity calculation unit 321 assumes that the vibration factor candidate is "unknown" (step S29).

[0056] When the feature quantity calculation unit 321 assumes that the vibration factor candidate is "rotation sensor noise (rotation synchronous)" or "disturbance (rotation synchronous)" (steps S22, S23), it records the rotation order (step S31) and records the NV level and the vibration frequency (step S32). On the other hand, when the feature quantity calculation unit 321 assumes that the vibration factor candidate is "switching disturbance", "disturbance (rotational asynchronous)", "oscillation (phase margin deterioration)", "oscillation (gain margin deterioration)", "TSM noise", "rotation sensor noise (high frequency)" (steps S21, S24, S25, S26, S27, S28), it records the NV level and the vibration frequency (step S32).

[0057] When all of conditional expressions 1 to 9 shown in FIG. 8 do not hold (when the determination results in steps S11 to S19 are all "NO"), the feature quantity calculation unit 321 determines that there is no vibration factor candidate (step S20). Through the above processing, the series of processing shown in FIG. 7 ends. Incidentally, when the above processing ends, the feature quantity calculation unit 321 outputs the NV level, the vibration frequency, and the rotation speed (in the case of rotational synchronous vibration) in addition to the vibration factor candidate.

[0058] Incidentally, the cases where conditional expressions 1 to 8 are not satisfied include cases where the vibration of the response data is small, cases where the response data does not have a sufficient time width and analysis cannot be performed accurately, cases where the rotational speed variation in the vibrating part is small and the determination of whether it is rotational synchronous vibration or rotational asynchronous vibration cannot be performed accurately, and the like. In preparation for such cases, the processes of steps S19, S20, and S29 are provided. When the vibration factor candidate becomes "unknown" (step S29), the steering operation is performed again, and by acquiring response data having a sufficient time width or response data with a large rotational speed variation in the vibrating part, it is possible to accurately extract the vibration factor candidate.

[0059] As described above, in the present embodiment, feature quantities related to vibration or noise generated during steering of the steering are extracted from response data obtained when the steering is steered, and a vibration factor candidate, which is a candidate for the vibration factor, is estimated based on the extracted feature quantities. Thereby, the vibration factor can be analyzed and estimated without requiring a great deal of time or labor. As a result, it is not necessary for the user (tester) to separately analyze the vibration factor, the settings of the controller can be performed according to the vibration factor, and the man-hours required for the settings of the controller can be reduced.

[0060] Further, in the present embodiment, the response data obtained when the steering is steered is detected in real time by the control device 2. Therefore, even when the communication speed between the control device 2 and the input / output device 3 via the communication line 4 is slow, the input / output device 3 can obtain response data including high-frequency components and can accurately identify the vibration factor.

[0061] [Embodiment 2] The steering measurement device 60 according to the above-described Embodiment 1 extracts, as a feature amount, an amount indicating the characteristics of vibration from the response data when the steering is steered, and estimates vibration factor candidates. In contrast, the steering measurement device 60 according to the present embodiment performs a simulation that simulates the steering of the steering, and extracts, as a feature amount, the similarity between the vibration generated in the simulation and the vibration caused by the actual steering, and estimates vibration factor candidates. The input / output device 3 in the present embodiment has the same configuration as the input / output device 3 shown in FIG. 3, but the internal configuration of the vibration factor estimation unit 32 is different.

[0062] FIG. 9 is a block diagram showing the internal configuration of the vibration factor estimation unit in Embodiment 2 of the present disclosure. As shown in FIG. 9, the vibration factor estimation unit 32 in the present embodiment includes a simulation search unit 323 and a vibration factor candidate determination unit 324. The simulation search unit 323 simulates the actually performed steering on the simulation based on the response data, and generates data on the simulation corresponding to the response data (hereinafter referred to as "simulation response data"). Specifically, the simulation response data is data including the operation torque detection value, current detection value, and rotation speed detection value obtained in the simulation.

[0063] FIG. 10 is a diagram showing a simulation model used in Embodiment 2 of the present disclosure. As shown in FIG. 10, the simulation model is composed of a controller model 325, a driver model 326, a steering model 327, and a vibration factor model 328. The controller model 325 is a model that implements the same algorithm as the control algorithm implemented in the control device 2.

[0064] The driver model 326 is a model that simulates a driver. Specifically, it calculates the angle of the steering wheel 51 from the rotational speed of the rotary machine 1, which is one of the response data received from the control device 2, and generates a steering torque so that the simulated steering wheel angle matches the actual steering wheel angle of the steering operation. The driver model 326 may be, for example, a PID control model according to the difference between the actual steering wheel angle and the simulated steering wheel angle, or other known driver models may be used.

[0065] The steering model 327 is a model that physically models the steering device and reflects the mechanical characteristics of the steering device. Specifically, the steering device is represented by a two-inertia system model, which expresses the inertia and viscosity of the steering wheel 51, the viscosity and rigidity of the torsion bar, the road surface viscosity and road surface rigidity caused by the force generated between the tire and the road surface, the inertia of the rotary machine 1, and the mechanical friction of the steering device. These mechanical characteristics are identified and set in advance. As described in Patent Document 1, the identification may be performed from the response data after applying a vibration command to the rotary machine 1, or may be performed by other known methods.

[0066] The vibration factor model 328 is a model for reproducing the vibration generated in the response data. For example, when reproducing vibration having a frequency proportional to the speed of the rotary machine 1, the vibration factor model 328 generates a torque disturbance proportional to the speed of the rotary machine in the simulation. By inputting this torque disturbance into the steering model 327, simulation response data that reproduces the vibration generated in the response data can be obtained.

[0067] Also, when reproducing vibrations caused by insufficient stability margin of the controller, the vibration factor model 328 uses methods such as deteriorating the phase margin by setting the delay time to the controller input value or the controller output value in the simulation, or deteriorating the gain margin with a filter that increases the high-frequency gain of the controller output value. By using such methods, simulation response data that reproduces the vibrations generated in the response data can be obtained. Regarding other factors, any factor that causes vibrations during steering can be incorporated as a vibration factor model in the simulation if it can be incorporated.

[0068] Next, a method for evaluating the similarity between the response data and the simulation response data will be described. As a method for evaluating the similarity, the dynamic time warping method (hereinafter referred to as "DTW") is used. To use this method, the vibration parts included in the response data and the vibration parts of the simulation response data corresponding to those parts are extracted, and preprocessing is performed to remove the offset components of each vibration part.

[0069] FIG. 11 is a diagram for explaining DTW, which is the reproduction determination method in the second embodiment of the present disclosure. After performing preprocessing on the vibration parts in each of the response data and the simulation response data, the vibration parts of the response data and the simulation response data are stretched (warped) so as to match well as shown in the example of FIG. 11 by DTW. Then, the difference between the two stretched vibration parts is taken, and by calculating the sum of the absolute values of the differences, a distance indicating the similarity of the two vibration parts can be calculated. This distance can be used as a feature quantity as a reproduction determination value for vibrations. Hereinafter, this distance will be referred to as the "DTW distance". The smaller the DTW distance, the higher the similarity.

[0070] In DTW, by expanding and contracting the vibrating part, even when there is a phase difference between the two vibrating parts, it is possible to absorb the phase difference and then take the difference, enabling appropriate measurement of the similarity of the vibrating parts. Furthermore, even if the vibration frequencies between the actual machine and the simulation deviate slightly due to errors in the simulation model or simulation parameters, etc., the expansion and contraction of the vibrating part can appropriately absorb the deviation and measure the similarity.

[0071] FIG. 12 is a diagram for explaining a method of preventing misjudgment by DTW, which is a reproduction determination method in Embodiment 2 of the present disclosure. When the vibration frequencies of the actual machine vibration and the simulation are significantly different, it is necessary to determine that the vibrations of the actual machine vibration and the simulation are different vibrations so as not to cause misjudgment. In the present disclosure, misjudgment is prevented by making the time widths of the two torque vibration waveforms extracted when measuring similarity equal.

[0072] That is, when the time widths of the two torque vibration waveforms extracted when measuring similarity are made equal, as shown in FIG. 12, the number of vibration cycles in the vibrating part is shifted. For this reason, even if the data is expanded and contracted by DTW, the DTW distance does not decrease, and it can be determined that the similarity between the response data and the simulation response data is low. Also, by providing a limit on expansion and contraction during the DTW calculation by a known method, a limit can be placed on the amount that can absorb the frequency deviation. From the above, by using DTW, the similarity of the vibrating parts between the response data and the simulation response data can be appropriately evaluated.

[0073] Next, a vibration factor exploration method for appropriately reproducing actual vibrations by simulation using a method for evaluating the similarity of two vibrations by DTW will be described. In evaluating the similarity of the vibration of the response data and the simulation response data, in addition to the types of vibration factors set in the vibration factor model on the simulation, it is necessary to appropriately set the magnitude of the influence of the vibration factors.

[0074] For example, consider the case where the vibration of the response data is rotational synchronous vibration due to rotational synchronous disturbance. In this case, even if rotational synchronous disturbance is applied to the vibration factor model of the simulation, if the magnitude of the rotational synchronous disturbance in the simulation is not appropriate, a difference will occur in the amplitude of the vibration between the response data and the simulation response data. As a result, the DTW distance will increase, and there is a possibility of misestimating the vibration factor. Therefore, by performing an optimization search with the magnitude of the influence of the vibration factor in the simulation as the design variable and the DTW distance as the objective function, it is possible to obtain an appropriate magnitude of the vibration factor for reproducing the vibration of the response data.

[0075] FIG. 13 is a diagram showing the relationship between the DTW distance and the magnitude of the influence of the vibration factor in Embodiment 2 of the present disclosure. As shown in FIG. 13, when the magnitude of the influence of the vibration factor in the simulation is too small or too large, the DTW distance increases. On the other hand, when the amplitudes of the vibration of the response data and the simulation response data become close, the DTW distance also becomes small, and it can be determined that the magnitude of the influence of the vibration factor at that time is appropriate. Therefore, by performing optimization in which the simulation is repeatedly performed each time with the magnitude of the influence of the vibration factor in the simulation as the design variable and the DTW distance as the objective function so that the objective function is minimized, it is possible to calculate an appropriate magnitude of the influence of the vibration factor. Note that a known optimization method may be used as the optimization method for the search.

[0076] From the above, by searching for the magnitude of the influence of the vibration factor so that the DTW distance becomes small, it is possible to appropriately reproduce the actual vibration by simulation. Note that the search may be performed not only separately for all the vibration factors set in the vibration factor model but also by combining a plurality of vibration factors and performing the search simultaneously. Even in that case, since there is no change in the objective function in the search and only the number of design variables increases, a known optimization method for searching for a plurality of design variables may be used.

[0077] FIG. 14 is a flowchart showing the processing performed by the simulation search unit in Embodiment 2 of the present disclosure. When the processing of the flowchart shown in FIG. 4 starts, the simulation search unit 323 selects a vibration factor model (step S41), sets the magnitude of the influence of the vibration factor (step S42), and executes a simulation (step S43). Next, the simulation search unit 323 calculates the DTW distance between the response data and the simulation response data (step S44).

[0078] Next, the simulation search unit 323 determines whether the DTW distance has become the minimum solution (step S45). If it is determined that the DTW distance has not become the minimum solution (when the determination result in step S45 is "NO"), the simulation search unit 323 returns to the processing of step S42. On the other hand, if it is determined that the DTW distance has become the minimum solution (when the determination result in step S45 is "YES"), the simulation search unit 323 saves DTWK6 or more as a feature amount (step S46).

[0079] Subsequently, the simulation search unit 323 determines whether all searches have been completed (step S47). If it is determined that not all searches have been completed (when the determination result in step S47 is "NO"), the simulation search unit 323 returns to the processing of step S41. On the other hand, if it is determined that all searches have been completed (when the determination result in step S47 is "YES"), the simulation search unit 323 outputs all the saved feature amounts.

[0080] In this way, the simulation search unit 323 separately searches for the magnitude of the influence of each vibration factor set by the vibration factor model, or sequentially searches as a combination of a plurality of vibration factors, and performs a process of saving the DTW distance minimized by the optimization method. The simulation search unit 323 repeats this process until all searches are completed. When all searches are completed, the simulation search unit 323 outputs the DTW distance, which is the result of each search, as a feature amount to the vibration factor candidate determination unit 324.

[0081] The vibration cause candidate determination unit 324 determines vibration cause candidates based on the DTW distance output as a feature amount from the simulation search unit 323. In the reproduction determination of vibration, a threshold is set for the DTW distance. If the DTW distance obtained in each search is equal to or less than the threshold, it can be determined that the vibration generated by the steering operation can be reproduced by the vibration cause set in that search. In addition, when there are two or more searches that can reproduce the vibration generated by the steering operation, since it can be determined that the one with the smaller DTW distance has higher reproducibility, the ranking of the vibration cause candidates may be determined and presented in ascending order of the DTW distance. Further, when the vibration is reproduced by a combination of a plurality of vibration causes, the combination of the plurality of vibration causes may be listed as a vibration cause candidate.

[0082] In addition, there may be cases where the reproduction of vibration is impossible because the response data does not have a sufficient time width and the analysis cannot be performed accurately. Also, there may be cases where the difference in the DTW distance between the search for the cause of rotational synchronous vibration and the search for the cause of rotational asynchronous vibration cannot be obtained due to a small rotational speed variation in the vibrating part, and the ranking of the vibration cause candidates cannot be determined. In such cases, by performing the steering operation again and obtaining response data with a sufficient time width or response data with a large rotational speed variation in the vibrating part, the extraction of vibration cause candidates can be accurately achieved.

[0083] Further, the estimation of the vibration cause performed in this embodiment may be performed together with the estimation of the vibration cause described in Embodiment 1. When the estimation of the vibration cause performed in this embodiment is performed together with the estimation of the vibration cause described in Embodiment 1, the estimation is performed by each method. If the estimated vibration causes are the same, the vibration cause may be output. If the estimated vibration causes are different, either of the estimated vibration causes may be preferentially output based on the respective feature amounts of each method.

[0084] As described above, according to this embodiment, since vibration factor search using simulation is performed and the possibility of reproducing vibration is determined using the DTW distance as a feature amount, the vibration factor can be accurately estimated. Therefore, the vibration factor can be estimated each time the steering test is performed without requiring the user (tester) to analyze the vibration factor. As a result, it is possible to reduce the man-hours required for the user to analyze the vibration factor, and there is an effect that the user can set the control device 2 according to the vibration factor.

[0085] 〔Embodiment 3〕 The steering measurement device 60 according to the above-described Embodiments 1 and 2 was such that the user (tester) set the controller based on the estimated vibration factor candidates in consideration of the target characteristics of the controller. On the other hand, the steering measurement device 60 according to this embodiment automatically calculates target characteristics for suppressing vibration based on the estimated vibration factor candidates and outputs the target characteristics.

[0086] FIG. 15 is a block diagram showing a main configuration of an input / output device included in the steering measurement device according to Embodiment 3 of the present disclosure. As shown in FIG. 15, the input / output device 3 in this embodiment has a configuration in which a target characteristic calculation unit 36 is added to the input / output device 3 shown in FIG. 3. The target characteristic calculation unit 36 calculates the target characteristics of the control device 2 based on the vibration factor candidates estimated by the vibration factor estimation unit 32.

[0087] Specifically, the target characteristic calculation unit 36 sets an evaluation function based on the target value in a specified frequency band for any one or more of the torque controller characteristic, angle controller characteristic, open-loop characteristic, sensitivity function, and disturbance transfer characteristic, which are the characteristics of the controller. Then, the target characteristic calculation unit 36 calculates the target characteristics that minimize the evaluation function by an optimization operation. A known calculation method may be used for the optimization operation.

[0088] Here, when the oscillation factor candidate is oscillation due to insufficient gain margin, the target characteristic calculation unit 36 sets an evaluation function with the target value of the gain margin obtained from the open-loop characteristic increased, and obtains a target characteristic with an increased gain margin by an optimization operation. Further, when the oscillation factor candidate is oscillation due to insufficient phase margin, the target characteristic calculation unit 36 sets an evaluation function with the target value of the phase margin obtained from the open-loop characteristic increased, in the same manner as in the case of insufficient gain margin, and obtains a target characteristic with an increased phase margin by an optimization operation. Note that an equivalent effect can be obtained by setting an evaluation function by reducing the gain target value in the vicinity of the oscillation frequency of the sensitivity function without distinguishing between insufficient gain margin and insufficient phase margin, and obtaining the target characteristic by an optimization operation.

[0089] When vibration due to disturbances such as switching ripple, road surface disturbance, and rotation synchronous disturbance becomes a problem, the target characteristic calculation unit 36 sets an evaluation function by reducing the gain target value at the vibration frequency of the disturbance transfer characteristic and performs an optimization operation. Thereby, a target characteristic with improved disturbance suppression performance can be obtained. Further, when high-frequency noise generated due to a sensor error from a rotating machine becomes a problem, the target characteristic calculation unit 36 reduces the gain target value at the vibration frequency of the disturbance transfer characteristic, or sets an evaluation function by reducing the gain target value at the vibration frequency of the torque controller characteristic or the angle controller characteristic and performs an optimization operation. Thereby, a target characteristic for suppressing high-frequency noise generated due to a sensor error from a rotating machine can be obtained.

[0090] The output unit 33 outputs, as output data, two or more pieces of data including at least the oscillation factor candidate and the target characteristic among the response data, the oscillation factor candidate and the feature amount, the sound data, and the target characteristic. Note that the output data output from the output unit 33 may be stored or output to the outside in a format (for example, text format) that can be confirmed by the user.

[0091] As described above, in the present embodiment, for any one or more of the torque controller characteristics, angle controller characteristics, open-loop characteristics, sensitivity functions, and disturbance transfer characteristics, which are the characteristics of the controller, an evaluation function based on the target value in the specified frequency band is set and an optimization calculation is performed. As a result, it is possible to obtain target characteristics with the influence of vibration factor candidates appropriately reduced. Therefore, it is not necessary for the user to consider the target characteristics according to the vibration factor candidates by himself / herself, and the user can perform the controller setting according to the target characteristics obtained by the optimization calculation. As a result, it is possible to perform the controller setting for suppressing the vibration generated in the steering operation while reducing the man-hours required for considering the target characteristics of the controller from the vibration factor analysis by the user.

[0092] 〔Embodiment 4〕 The steering measurement device 60 according to the above-described Embodiment 3 automatically performed all operations from the selection of vibration factor candidates to the target characteristic calculation. On the other hand, the steering measurement device 60 according to the present embodiment enables the user (tester) to select vibration factor candidates and adjust the target characteristics.

[0093] FIG. 16 is a block diagram showing a main configuration of an input / output device included in the steering measurement device according to Embodiment 4 of the present disclosure. As shown in FIG. 16, the input / output device 3 in the present embodiment has a configuration in which a vibration factor selection unit 37 and an adjustment amount input unit 38 are added to the input / output device 3 shown in FIG. 15. When there are a plurality of vibration factor candidates estimated by the vibration factor estimation unit 32, the vibration factor selection unit 37 selects a specific vibration factor based on a user's instruction and outputs it to the target characteristic calculation unit 36.

[0094] For example, consider a case where there are some vibration factor candidates with large and small influences among the plurality of vibration factor candidates estimated by the vibration factor estimation unit 32. In such a case, if the user gives an instruction to the vibration factor selection unit 37 to select only those with a large influence, only those with a large influence will be selected and output to the target characteristic calculation unit 36. As a result, it is possible to obtain target characteristics using only those with a large influence among the plurality of vibration factor candidates estimated by the vibration factor estimation unit 32.

[0095] The adjustment amount input unit 38 inputs the adjustment amount of the target characteristics. Specifically, the adjustment amount input unit 38 inputs the adjustment amount when the target characteristic calculation unit 36 calculates the target characteristics of the control device 2 based on the vibration factor candidates estimated by the vibration factor estimation unit 32. In the present embodiment, the target characteristics are calculated by the target characteristic calculation unit 36 based on the vibration factor candidates selected by the vibration factor selection unit 37 and the adjustment amount input by the adjustment amount input unit 38. Therefore, by providing the adjustment amount input unit 38, the user can make adjustments to set the desired target characteristics in view of the magnitude of the influence of the vibration factor specified by the vibration factor selection unit 37.

[0096] Note that the adjustment amount input by the adjustment amount input unit 38 is not necessarily only the adjustment amount for suppressing vibration, but may also be an adjustment amount with an intention other than vibration suppression, such as ensuring comfortable steering performance of the steering. For example, in order to suppress vibration due to deterioration of stability, it may include an adjustment amount for the target value of the sensitivity function or the open-loop characteristic, and an adjustment amount for the target value of the torque controller characteristic to ensure steering responsiveness. Of course, it is not limited to the above example, and it can include an adjustment amount for the target value of the disturbance transfer characteristic to improve the disturbance suppression performance, or an adjustment amount for the target value of the angle controller characteristic for adjusting the steering stickiness, etc., in order to obtain the characteristics desired by the user.

[0097] Also, when specifying the adjustment amount input to the adjustment amount input unit 38, it is possible to specify a specific frequency or a specific frequency band, or for the user to weight a plurality of target values. By doing such things, it is also possible to enhance the characteristics that the user values more, and it is easier for the user to obtain the target characteristics desired more.

[0098] As described above, in the present embodiment, the vibration factor selection unit 37 is provided to select vibration factor candidates estimated by the vibration factor estimation unit 32 according to a user's instruction. Further, in the present embodiment, the adjustment amount input unit 38 is provided to enable input of an adjustment amount when calculating target characteristics. Thereby, adjustment of target characteristics reflecting the user's setting policy can be performed.

[0099] As described above, the embodiments of the present disclosure have been described. However, the present disclosure is not limited to the above-described embodiments, and can be freely changed without departing from the gist of the present disclosure. For example, the electric power steering device 50 described in the above-described embodiment is of a rack and pinion type, but may be of a type other than the rack and pinion type.

[0100] In addition, each component (control device 2, input / output device 3) included in the steering measurement device 60 described above has a computer system inside. Then, a program for realizing the functions of each component included in the steering measurement device 60 described above is recorded on a computer-readable recording medium, and the program recorded on this recording medium is read into the computer system and executed, whereby the processing in each component included in the steering measurement device 60 described above may be performed. Here, "reading and executing the program recorded on the recording medium by the computer system" includes installing the program in the computer system. The "computer system" here is assumed to include hardware such as an OS and peripheral devices.

[0101] Further, the "computer system" may include a plurality of computer devices connected via a network including a communication line such as the Internet, WAN, LAN, or dedicated line. In addition, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, magneto-optical disk, ROM, CD-ROM, or a storage device such as a hard disk built into the computer system. Thus, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM.

[0102] The recording medium also includes an internal or external recording medium provided so as to be accessible from a distribution server for distributing the program. Note that the program may be divided into a plurality of parts and combined in each configuration included in the steering measurement device 60 after being downloaded at different timings, and the distribution servers for distributing the respective divided programs may be different. Further, the “computer-readable recording medium” includes those that hold a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network. Further, the above program may be for realizing a part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

Explanation of Reference Numerals

[0103] 1... rotating machine, 2... control device, 3... input / output device, 32... vibration factor estimation unit, 33... output unit, 34... display unit, 35... microphone, 36... target characteristic calculation unit, 37... vibration factor selection unit, 38... adjustment amount input unit, 50... electric power steering device

Claims

1. It is communicably connected to a control device for controlling a rotary machine provided in an electric power steering device for generating a steering assist force for a steering provided in a vehicle, and during steering of the steering, it acquires response data indicating a response of the electric power steering device detected by the control device to the steering, extracts a feature quantity related to vibration or noise generated during steering of the steering from the response data, and an oscillation factor estimation unit that estimates an oscillation factor candidate that is a candidate for the oscillation factor based on the feature quantity, an output unit that outputs the oscillation factor candidate, An input / output device comprising.

2. The input / output device according to claim 1, further comprising a target characteristic calculation unit that calculates a target characteristic of the control device based on the oscillation factor candidate.

3. an oscillation factor selection unit that selects the oscillation factor candidate, an adjustment amount input unit that inputs an adjustment amount of the target characteristic, Comprising, The target characteristic calculation unit calculates the target characteristic based on the oscillation factor candidate selected by the oscillation factor selection unit and the adjustment amount input by the adjustment amount input unit. The input / output device according to claim 2.

4. The target characteristic calculation unit calculates the target characteristic based on any one or more of the torque controller characteristic, angle controller characteristic, open-loop characteristic, sensitivity function, and disturbance transfer characteristic of the control device and the oscillation factor candidate. The input / output device according to claim 2.

5. The response data includes at least one of a steering torque applied to the steering, a rotational speed of the rotary machine, and a detected current. The input / output device according to claim 1.

6. The input / output device according to claim 1, further comprising a sound detector that detects a sound generated inside the vehicle during steering of the steering and outputs the detected sound as sound data.

7. The output unit outputs one or more of the oscillation factor, the response data, the sound data, and the feature quantity, including the oscillation factor, in any of numerical format, character format, and graphical format. further comprising a display unit that displays the output result of the output unit. The input / output device according to claim 6.

8. The feature quantity includes a quantity indicating any one or more of the amplitude of vibration of the response data, the frequency of vibration, the degree of rotational synchronous disturbance, and the rotational synchronous disturbance order. The input / output device according to claim 1.

9. The input / output device according to claim 1, wherein the feature amount includes an amount indicating similarity between the response data and simulation response data obtained by performing a simulation simulating the vibration.

10. The input / output device according to any one of claims 1 to 9, a control device for controlling a rotating machine provided in an electric power steering device for generating a steering assist force for a steering provided in a vehicle, which is communicably connected to the input / output device, comprising: the control device transmits the response of the electric power steering device detected when the steering is steered to the input / output device as the response data; Steering measurement device.

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