Steering device for a motor vehicle
A steering device for a motor vehicle, in particular a “steer-by-wire” steering device, comprises a steering wheel, which is able to act on a steering sensor for measuring the rotation angle position of the steering wheel, an electromechanical actuator, which is able to act on a rack for steering wheels, and an electronic controller, which is adapted to detect the steering wheel angle position and to control the electromechanical actuator, wherein the steering device further comprises a feedback actuator acting on the steering wheel, wherein the controller is adapted to measure natural oscillations of the motor vehicle and to apply them with a corresponding amplitude to the feedback actuator.
1 . A steering device for a vehicle, comprising:
a steering wheel, which is able to act on a steering sensor for measuring a rotation angle position of the steering wheel;
a feedback actuator acting on the steering wheel;
an electromechanical actuator, which is able to act on a rack for steering wheels; and
an electronic controller, which is adapted to detect the rotation angle position of the steering wheel and to control the electromechanical actuator, wherein the electronic controller is adapted to measure natural oscillations of the vehicle and to apply them with a corresponding amplitude to the feedback actuator, wherein the electronic controller includes:
a sine wave generator including a first input, a second input, and a first output, wherein a signal relating to oscillations and/or vibrations of a transmission and/or of a differential, can be supplied to the first input, wherein a signal relating to torque can be supplied to the first output;
a signal filtering/signal modifying unit including an input and an output, wherein a signal relating to IMU, including a Z direction signal, and/or steering gear signals can be supplied to the first input;
an amplifier including an input and an output;
a first summing unit including a first input, a second input, a third input, a fourth input, and an output; and
a second summing unit including a first input, a second input, and an output.
2 . The steering device according to claim 1 , wherein the sine wave generator is a first sine wave generator, the amplifier is a first amplifier, and the electronic controller further includes:
a second amplifier for signals relating to vehicle velocity, accelerator position, and road deviation;
a second sine wave generator;
a third amplifier for signals relating to vehicle velocity and accelerator position;
a third sine wave generator; and
a fourth amplifier for signals relating to vehicle velocity, accelerator position, and road deviation.
3 . The steering device according to claim 2 , wherein:
the second amplifier comprises an input and an output,
the second sine wave generator comprises a first input, a second input and a first output, wherein a signal relating to engine speed can be supplied to the first input, wherein a signal relating to torque can be supplied to the first output,
the third amplifier comprises an input and an output,
the third sine wave generator comprises a first input, a second input and a first output, wherein a signal relating to wheel speed/tire profile frequency can be supplied to the first input, wherein a signal relating to torque can be supplied to the first output, and
the fourth amplifier comprises an input and an output.
4 . The steering device according to claim 3 , wherein:
the output of the second amplifier is connected to the second input of the second sine wave generator, wherein the connection is adapted to transmit an amplitude signal;
the output of the third amplifier is connected to the second input of the third sine wave generator, wherein the connection is adapted to transmit an amplitude signal; and
the output of the fourth amplifier is connected to the second input of the first sine wave generator, wherein the connection is adapted to transmit an amplitude signal.
5 . The steering device according to claim 4 , wherein:
the output of the second sine wave generator is connected to the first input of the first summing unit, wherein the connection is adapted to transmit a signal relating to a torque;
the output of the third sine wave generator is connected to the second input of the first summing unit, wherein the connection is adapted to transmit a signal relating to a torque;
the output of the first sine wave generator is connected to the third input of the first summing unit, wherein the connection is adapted to transmit a signal relating to a torque.
6 . The steering device according to claim 5 , wherein:
the output of the signal filtering/signal modifying unit is connected to the input of the first amplifier;
the output of the first amplifier is connected to the fourth input of the first summing unit, wherein the connection is adapted to transmit a signal relating to a torque;
the first input of the second summing unit is adapted to be supplied with a signal relating to basic steering feel torque request;
the output of the first summing unit is connected to the second input of the second summing unit, wherein the connection is adapted to transmit a signal relating to natural oscillation torque request;
the output of the second summing unit is adapted to be supplied with a signal relating to feedback actuator torque demand.
7 . The steering device according to claim 1 , wherein the steering device is a steer-by-wire steering device for a motor vehicle.