Steering Computing Device Joint Angle Calculation
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Solution Overview
Problem
Existing steering computing devices are unable to estimate bending angles in the absence of a tilt angle sensor.
Innovation Solution
A steering computing device that calculates the joint angle variable using the steering angle and output shaft angle variables, without the need for a tilt angle sensor, by employing a processor to execute processes for acquiring these angle variables and calculating the joint angle variable based on their relationship.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a tilt angle sensor is used to estimate bending angles of Cardan joints, then the bending angle estimation is possible, but the device complexity increases due to additional sensors
Solution Approach 1:
The system uses its own operational data (steering angle and output shaft angle) to calculate the joint angle variable, eliminating the need for external tilt angle sensors. The steering computing device performs self-diagnosis by leveraging existing sensor inputs to derive bending angle information that would otherwise require additional hardware.
Solution Approach 2:
The joint angle variable acts as an intermediary parameter that connects the steering angle and output shaft angle to the bending angles of the Cardan joints. By introducing this calculated variable, the system can infer bending angle information without directly measuring it with additional sensors.
2Device complexity
If no tilt angle sensor is provided, then the device complexity is reduced, but the bending angle cannot be estimated
Solution Approach 1:
The patent replaces the mechanical sensing approach (tilt angle sensor) with a computational approach. Instead of physically measuring the bending angle with a sensor, the system uses mathematical calculations based on steering angle and output shaft angle data to derive the same information, substituting mechanical measurement with computational analysis.
Solution Approach 2:
The system changes the parameters used for bending angle estimation from direct physical measurement (tilt angle) to derived computational parameters (joint angle variable calculated from steering angle and output shaft angle). This parameter transformation allows the system to obtain bending angle information through calculation rather than direct sensing.
3Measurement precision
If detailed bending angle information is acquired, then the steering system operation accuracy is improved, but the calculation complexity increases
Solution Approach 1:
The joint angle variable is segmented into two distinct bending angles: the first bending angle (input shaft to intermediate shaft) and the second bending angle (intermediate shaft to output shaft). This segmentation allows the system to obtain detailed information about each Cardan joint's bending state independently, providing comprehensive steering system operation data through a single joint angle variable calculation.
Data Source
AI summary
A steering computing device for calculating state quantity of a steering apparatus includes a processor. The processor is configured to execute a steering angle variable acquisition process, an output shaft angle variable acquisition process, and a joint angle variable calculation process. The steering angle variable acquisition process is a process of acquiring a value of a steering angle variable. The output shaft angle variable acquisition process is a process of acquiring a value of an output shaft angle variable as a variable indicative of a rotation angle of an output shaft of the steering apparatus. The joint angle variable calculation process is a process of calculating a value of the joint angle variable. The joint angle variable is a variable defining an angle formed between an axial direction of an input shaft of the steering apparatus and an axial direction of the output shaft.