Steering Controller Compensation for Inertia Viscosity Spring
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Solution Overview
Problem
Existing steer-by-wire steering systems fail to adequately compensate for inertia, viscosity, and spring components in the steering mechanism, leading to suboptimal steering response and control.
Innovation Solution
A steering controller that calculates a compensation amount for inertia, viscosity, and spring components based on the target rotation angle, incorporating a compensation control circuit to adjust the command value and improve motor control for precise steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If differential steering control is used to adjust steering response, then steering responsiveness is improved, but the influence of inertia, viscosity, and spring components cannot be adequately reduced or eliminated
Solution Approach 1:
The patent segments the compensation task into three distinct components: inertia component compensation, viscosity component compensation, and spring component compensation. Each component is calculated and compensated separately through dedicated calculation circuits, allowing precise individual handling of each mechanical influence rather than treating them as a unified differential control problem.
Solution Approach 2:
The patent changes the compensation parameters by introducing separate compensation amounts for inertia (based on angular acceleration), viscosity (based on angular velocity), and spring components (based on angular position). This parameter-based approach allows dynamic adjustment of each component's influence independently, achieving accurate compensation across varying steering conditions.
2Measurement precision
If compensation control for inertia, viscosity, and spring components is implemented, then steering accuracy is improved, but device complexity increases
Solution Approach 1:
The patent merges the compensation control functions into a single integrated controller that houses all three calculation circuits (inertia, viscosity, and spring component compensation). This unified structure consolidates multiple compensation tasks into one device, achieving high steering accuracy without requiring separate external compensation systems for each component.
Solution Approach 2:
The controller is designed with multi-functionality, serving both as the primary steering control unit and as the compensation control unit for inertia, viscosity, and spring components. This universal design allows the same device to perform multiple functions, reducing overall system complexity while maintaining precise compensation capabilities.
Data Source
AI summary
A controller controls a steering motor in accordance with a pinion angle command value calculated in response to a steering state. The steering motor produces a driving force to a steering operation mechanism. The controller calculates a target pinion angle in accordance with the steering state and the pinion angle command value by performing feedback control such that an actual pinion angle corresponds to the target pinion angle. The controller includes a compensation control circuit which calculates compensation amounts reflected in the pinion angle command value so as to compensate for an inertia component, a viscosity component, and a spring component of the steering operation mechanism in accordance with the target pinion angle. The compensation control circuit adds the compensation amounts to the target pinion angle so as to calculate the final target pinion angle to be used for the calculation of the pinion angle command value.