Steering Control Play Compensation for Stable Intervention
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Solution Overview
Problem
Existing steering control systems face decreased controllability when performing steering interventions after correcting for play amounts, especially when the intervention direction opposes the play amount, leading to potential loss of control stability.
Innovation Solution
A steering control device that includes a processing unit to execute processes for acquiring and correcting a target rudder angle variable, restricting corrections based on attention information, and controlling the motor using a steering angle as a control amount, thereby managing play compensation amounts to maintain control stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the target rudder angle is corrected by a play compensation amount corresponding to the steering direction, then the steering responsiveness is improved, but the controllability of steering intervention decreases when the intervention direction opposes the play amount
Solution Approach 1:
The play compensation amount is made dynamically adjustable based on steering conditions. The system switches between a first play compensation amount (larger) for normal steering and a second play compensation amount (smaller) when steering intervention is detected, allowing the compensation to adapt to different operational contexts and maintain both responsiveness and controllability
Solution Approach 2:
The system changes the parameter of play compensation amount based on detected steering conditions. When steering intervention is detected, the system transitions from using a first play compensation amount to a second play compensation amount, adjusting the parameter to prevent excessive correction and maintain intervention effectiveness
2Measurement precision
If the play compensation amount is increased to compensate for steering play, then the steering accuracy is improved, but the risk of excessive correction and rapid changes in target rudder angle increases
Solution Approach 1:
The play compensation amount is dynamically adjusted based on the detected steering state. The system uses a larger compensation amount when normal steering is detected to improve accuracy, but switches to a smaller compensation amount when steering intervention is detected to maintain stability and prevent excessive corrections
Solution Approach 2:
The system implements feedback by detecting the steering state and using this information to adjust the play compensation amount. When steering intervention is detected, the feedback mechanism triggers a reduction in compensation amount to prevent instability and rapid changes in the target rudder angle
Data Source
AI summary
A steering control device that controls a steering device, includes a processing unit. The processing unit executes; a target rudder angle variable acquisition process of acquiring a value of a target rudder angle variable, an attention information acquisition process, a target rudder angle correction process of correcting the value of the target rudder angle variable by a play compensation amount corresponding to a steering direction, a restriction process of restricting the correction of the value of the target rudder angle variable by the play compensation amount depending on the information, and a rudder angle control process of operating a motor. In the rudder angle control process a steering angle depending on a rotation angle of a steering shaft is adopted as a control amount and the value of the target rudder angle variable is adopted as a target value of the control amount.