Steering Angle Control Calibration for Smooth Movement
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Solution Overview
Problem
Conventional angle control systems experience rapid motor current fluctuations and vibrations due to the mismatch between reference angle input periods and control periods, leading to poor control quality and non-smooth steering handle movement.
Innovation Solution
An angle control apparatus and method that calibrates the reference angle input from an electronic control unit into a smoothly changing shape using angular velocity data from a motor position sensor, allowing for improved control quality and smoother steering handle movement by conducting angle control based on the calibrated reference angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If angle control is conducted at a short control period (e.g., 1 msec) using reference angle input at a longer reference angle input period, then control responsiveness is improved, but motor current fluctuates rapidly causing vibration and deteriorating control quality
Solution Approach 1:
The patent applies preliminary action by calculating and storing calibrated reference angles in advance at the reference angle input period, then using these pre-calibrated values during the shorter control period. This allows the control system to operate at high speed without causing current fluctuations, as the calibration is performed beforehand rather than in real-time during each control cycle
Solution Approach 2:
The patent introduces an intermediary calibration process that acts as a mediator between the reference angle input and the angle control execution. The calibration unit transforms the step-shaped reference angle into a smoothly varying calibrated reference angle, which then serves as the intermediate control signal for the motor, eliminating direct current fluctuations while maintaining fast control response
2Device complexity
If reference angle is input in step shape at each predetermined period, then control simplicity is maintained, but steering handle movement becomes non-smooth reducing driver satisfaction
Solution Approach 1:
The patent applies dynamics by transforming the static step-shaped reference angle into a dynamic smoothly varying calibrated reference angle. The calibration process introduces temporal variation and continuity to the control signal, making the steering handle movement smooth and natural while preserving the simplicity of the overall control architecture
Solution Approach 2:
The patent changes the parameter characteristics of the reference angle from discrete step values to continuous smoothly varying values through calibration. This parameter transformation maintains the simplicity of the control system structure while fundamentally improving the quality of steering handle movement by altering the temporal distribution of control signals
Data Source
AI summary
The present invention relates to a technology related to angle control and automatic parking, and more particularly to an angle control method and apparatus for improving angle control quality so as to make the movement of a steering handle smooth, and an automatic parking system using the same.