Steering Control Device Dead Band Compensation
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Solution Overview
Problem
Existing steering control devices face challenges in accurately calculating manipulated variables due to deviations between target steering angles and actual turning wheel angles, leading to potential excessive manipulated variable magnitudes.
Innovation Solution
A steering control device that includes a processor executing a dead band amount calculation process and a superposition process. The dead band amount calculation process determines the dead band amount using the steering angle, and the superposition process superposes a dead band compensation torque on the motor torque when the dead band amount is greater than zero, thereby enhancing the controllability of the turning angle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the target steering angle is corrected by a play amount, then the dead band effect is compensated, but the target value deviates from the actual turning angle and excessive manipulated variables are generated
Solution Approach 1:
The system performs preliminary detection of the dead band amount before calculating the manipulated variable, and uses this detected information to adjust the manipulated variable calculation. This preliminary detection allows the system to compensate for the dead band effect without creating excessive manipulated variables, as the compensation is based on actual detected values rather than fixed corrections.
Solution Approach 2:
The system detects the actual dead band amount through feedback from the relationship between steering angle and turning angle, and uses this feedback information to adjust the manipulated variable. This closed-loop feedback mechanism ensures that the target steering angle remains accurate while properly compensating for dead band effects.
2Reliability
If the dead band amount is large, then the responsiveness of the turning angle decreases, but correcting the target value causes deviation from the intended turning angle
Solution Approach 1:
The system uses the detected dead band amount as an intermediary parameter to adjust the manipulated variable without directly correcting the target steering angle. This intermediary approach allows responsiveness compensation while maintaining the accuracy of the target turning angle, as the dead band amount serves as a mediation factor in the control calculation.
3Device complexity
If a fixed play amount is used for correction, then the control process is simple, but it cannot adapt to varying dead band conditions and may cause excessive manipulated variables
Solution Approach 1:
The system dynamically detects the dead band amount based on the actual relationship between steering angle and turning angle, and uses this dynamically obtained value to adjust the manipulated variable. This dynamic approach adapts to varying dead band conditions without requiring complex fixed correction tables, achieving both adaptability and reasonable control complexity.
Data Source
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AI summary
A steering control device (60) controls a steering device (10). The steering device (10) includes a processor (62) configured to execute a dead band amount calculation process and a superposition process. The dead band amount calculation process is a process of calculating a dead band amount using a steering angle as an input, the dead band amount being an amount by which the steering angle changes while a turning wheel (40) does not turn in a steering direction. The superposition process is a process of superposing a dead band compensation torque on the torque of a motor (50), when the magnitude of the dead band amount is larger than zero. The dead band compensation torque is a torque that increases the torque of the motor (50) in a direction in which the turning wheel (40) turns depending on rotation of a steering shaft (14).