Steering Control Apparatus Friction Compensation
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Solution Overview
Problem
Existing steer-by-wire systems face challenges in accurately compensating for follow-up delay due to friction in the turning mechanism, especially when a load is applied, leading to inadequate vehicle response.
Innovation Solution
A control apparatus that calculates a compensation current command value using velocity and driving information to compensate for friction-induced delays, incorporating a friction compensating section with filter processing, conversion maps, and output gain to adjust the current command value, ensuring precise control of the turning actuator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If friction compensation is performed using only velocity information, then the control complexity is reduced, but the compensation accuracy deteriorates under load conditions
Solution Approach 1:
The system performs preliminary filtering of velocity information and driving information before conversion, preparing corrected values in advance to improve compensation accuracy without increasing operational complexity. The filter section processes raw signals beforehand to remove noise and inconsistencies.
Solution Approach 2:
The system changes parameters by using both velocity information and driving information as inputs to the conversion map, rather than relying solely on velocity. This multi-parameter approach enables accurate friction compensation under varying load conditions while maintaining manageable control complexity through structured parameter transformation.
2Force
If the turning mechanism operates under high load, then the steering capability is improved, but the friction increases causing larger follow-up delay
Solution Approach 1:
The system uses feedback by continuously monitoring both velocity information and driving information, then feeding these corrected values into the conversion map to calculate appropriate compensation current. This closed-loop feedback mechanism dynamically adjusts friction compensation based on actual operating conditions, reducing follow-up delay even under high load steering conditions.
Solution Approach 2:
The filter section performs preliminary processing on velocity and driving information before they reach the conversion map, preparing corrected values in advance that account for expected friction conditions. This preliminary action enables the system to anticipate and compensate for friction-induced delays before they fully manifest, maintaining responsive steering under load.
3Measurement precision
If filtering processing is applied to velocity and driving information, then the signal quality is improved, but the processing time increases
Solution Approach 1:
The filter section applies filtering processing selectively to the essential components of velocity and driving information, rather than over-processing all signals. This partial action approach improves signal quality by removing critical noise while avoiding excessive processing that would unnecessarily increase delay, maintaining an optimal balance between quality and speed.
Data Source
AI summary
A control apparatus of a steering system for vehicles that precisely compensates an influence of the friction generated in the turning mechanism and enables a vehicle to respond properly. The control apparatus controls a turning mechanism by drive-controlling a turning actuator based on steering information communicated electrically.