Aid Steering Control Apparatus Torque Compensation
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Solution Overview
Problem
Existing steering control systems using cardan joints fail to compensate for torque changes effectively, leading to driver fatigue due to non-linear steering torque sensing and increased variation in steering torque, especially when the cardan joint rotates with a bending angle.
Innovation Solution
An aid steering control apparatus that includes a sensing unit for steering angle and pinion angle, a change amount calculating unit, a carrier calculating unit, and a compensating unit to calculate and compensate for steering torque changes by determining the maximum and minimum rack force values, thereby offsetting the torque variations caused by the cardan joint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a cardan joint is used to connect the steering column and steering gear, then the steering wheel height can be adjusted to match driver comfort, but the cardan joint rotation causes non-linear steering torque changes that create a sense of difference for the driver
Solution Approach 1:
The system dynamically changes the compensation parameter based on the cardan joint angle to counteract the non-linear torque variations. By calculating the deviation from ideal linear torque and applying compensatory torque, the system maintains steering linearity while preserving the height adjustment capability provided by the cardan joint.
2Device complexity
If steering torque compensation is not applied, then the steering control system is simple, but the driver experiences high fatigue due to non-compensated torque variations
Solution Approach 1:
The system employs feedback by continuously monitoring the cardan joint angle and rack force, calculating the required compensation torque, and applying it through the motor. This closed-loop feedback mechanism automatically compensates for torque variations, reducing driver fatigue while maintaining relatively simple system architecture.
3Ease of operation
If the cardan joint bending angle is changed for height control, then driver comfort is improved, but the steering torque characteristics change non-linearly causing a sense of difference
Solution Approach 1:
The system performs preliminary calculation of the compensation torque based on the cardan joint angle before the steering operation. By pre-calculating the expected torque deviation and preparing the compensatory action, the system ensures consistent steering characteristics regardless of the cardan joint's bending angle, thereby maintaining torque characteristic stability while allowing height adjustment.
Data Source
AI summary
The present invention relates to an aid steering control apparatus comprising: a sensing unit configured to sense at least one of a steering angle and a pinion angle, and a rack force; a change amount calculating unit configured to calculate at least one of a steering angle change amount, which is a change of the steering angle, and a pinion angle change amount, which is a change of the pinion angle, and a rack force change amount, which is a change of the rack force; a first carrier calculating unit configured to calculate a first carrier that is a rack force change amount for the steering angle change amount or a rack force change amount for the pinion angle change amount; and a compensating unit configured to calculate a rack force maximum value and a rack force minimum value, which are rack forces of points where a sign of the first carrier is changed by determining the sign of the first carrier, and to compensate for a steering torque based on a difference between the rack force maximum value and the rack force minimum value, and the points.