Steering Controller Torque Command Calculation for Noise Reduction
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Solution Overview
Problem
Noise interference in sensor data complicates feedback control for steering actuators, making it difficult to enhance the responsiveness of steerable wheels.
Innovation Solution
The steering controller processes both steering-side and steerable wheel-side operation amounts to calculate a torque command value, incorporating noise reduction techniques like angle estimation and feedforward operation based on differential elements, thereby improving control responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If feedback control is executed using detected state quantities (steering torque and steering angle), then the steering angle can be adjusted to a target value, but noise superimposed on the detected quantities increases the influence of noise on the control unit, making it difficult to improve responsivity
Solution Approach 1:
The patent introduces an intermediary calculation process that converts the steering-side operation amount (derived from steering torque) into an angle command value before feeding it to the angle feedback process. This intermediary conversion acts as a mediator that decouples the noise in steering torque detection from the angle feedback control, allowing the angle feedback to operate with reduced noise influence while still responding to driver input.
Solution Approach 2:
The control system is segmented into two independent feedback loops: a torque feedback process that handles steering torque control and an angle feedback process that handles steering angle control. By separating these functions, the patent allows each loop to optimize its own performance without the noise from one loop directly affecting the other, thereby improving overall control responsivity.
2Ease of operation
If the angle feedback process uses the steering-side operation amount converted to angle command value, then the angle feedback is affected by noise from both steering torque and convertible angle, but this dual-noise influence cannot be easily reduced
Solution Approach 1:
The patent implements a dual feedback mechanism where the torque feedback process provides an angle command value to the angle feedback process, creating a hierarchical feedback structure. This allows the angle feedback to correct positioning errors while the torque feedback handles the noisy torque measurements, effectively filtering noise through the feedback hierarchy.
Solution Approach 2:
The steering-side operation amount is preliminarily converted into an angle command value before being used in the angle feedback process. This preliminary conversion prepares the data in a form that is less susceptible to noise influence during the angle feedback operation, proactively reducing noise impact before it affects the final control output.
3Device complexity
If the torque command value is determined only from the steerable wheel-side operation amount, then the control system is simpler, but the responsivity of control cannot be maximized
Solution Approach 1:
The patent merges the torque feedback process and the angle feedback process by summing their respective operation amounts (converted to torque equivalents) to generate the final torque command value. This combination integrates the responsive torque control with the precise angle control, achieving high responsivity without requiring a completely separate control system.
Solution Approach 2:
The steering-side operation amount serves multiple functions: it is used directly in torque feedback control and simultaneously converted to an angle command value for angle feedback control. This multi-functionality allows a single input to drive both control loops, improving responsivity without proportionally increasing system complexity.
Data Source
AI summary
A steering controller includes processing circuitry. The processing circuitry is configured to execute an operation process for calculating a torque command value corresponding to a sum of an amount by which the steering-side operation amount is converted into the torque required for the electric motor and an amount by which the steerable wheel-side operation amount is converted into the torque required for the electric motor and operate a drive circuit of the electric motor to adjust the torque of the electric motor to the torque command value.