Power steering apparatus
View Patent ↗A power steering apparatus has a first characteristic which is a characteristic of a command signal with respect to steering torque and a second characteristic which is a characteristic different from the first characteristic. When switching is to be made to a characteristic selected from between the first and second characteristics, an interpolation characteristic intermediate between the first and second characteristics is calculated so that the characteristic used before switching of the characteristics gradually approaches the characteristic to be used after the switching, and a characteristic switching time for switching between the first and second characteristics is variably controlled in accordance with the steering torque.
1. A power steering apparatus comprising:
a steering mechanism transmitting a steering operation of a steering wheel to a steered wheel;
an electric motor applying steering force to the steering mechanism;
a torque sensor provided in the steering mechanism and detecting steering torque of the steering mechanism;
a controller configured to
calculate and output a command signal to the electric motor in accordance with the steering torque, in response to a selected one of a first characteristic which is a characteristic of the command signal with respect to the steering torque and a second characteristic which is a characteristic differing from the first characteristic;
store the first characteristic and the second characteristic;
switch between the first characteristic and the second characteristic;
calculate, when switching between the first characteristic and the second characteristic is to be performed, an interpolation characteristic intermediate between the first characteristic and the second characteristic so that one of the first and second characteristics that is used before switching gradually approaches another of the first and second characteristics that is to be used after the switching;
variably control a transition duration for transitioning from the one of the first characteristic and the second characteristic to the other when switching between the first characteristic and the second characteristic in accordance with the steering torque;
calculate the command signal on a basis of the one of the first or second characteristic to which switching has been made, and
calculate and output the command signal to the electric motor, based on the interpolation characteristic, during the transition duration,
wherein the electric motor applies the steering force in response to the command signal received from the controller.
2. The power steering apparatus of claim 1 , wherein the first characteristic is set larger than the second characteristic in terms of a value of the command signal with respect to the steering torque, and when the controller switches from the first characteristic to the second characteristic while the steering torque is decreasing, the controller sets the characteristic switching time longer than when the steering torque is kept constant.
3. The power steering apparatus of claim 2 , wherein, when the controller switches from the first characteristic to the second characteristic while the steering torque is decreasing, the controller calculates the interpolation characteristic so that the steering torque will not increase during a time period from start to completion of switching of the characteristics.
4. The power steering apparatus of claim 3 , wherein, when the controller switches from the first characteristic to the second characteristic while the steering torque is decreasing, the controller calculates the interpolation characteristic on a basis of the steering torque and the characteristic to be used after the switching.
5. The power steering apparatus of claim 1 , wherein the first characteristic is set larger than the second characteristic in terms of a value of the command signal with respect to the steering torque, and when the controller switches from the second characteristic to the first characteristic while the steering torque is decreasing, the controller sets the characteristic switching time longer than when the steering torque is kept constant.
6. The power steering apparatus of claim 5 , wherein, when the controller switches from the second characteristic to the first characteristic while the steering torque is decreasing, the controller calculates the interpolation characteristic so that the command signal will not increase during a time period from start to completion of switching of the characteristics.
7. The power steering apparatus of claim 6 , wherein, when the controller switches from the second characteristic to the first characteristic while the steering torque is decreasing, the controller calculates the interpolation characteristic on a basis of the steering torque and the characteristic to be used after the switching.
8. The power steering apparatus of claim 1 , wherein the first characteristic is set larger than the second characteristic in terms of a value of the command signal with respect to the steering torque, and when the controller switches from the second characteristic to the first characteristic while the steering torque is increasing, the controller sets the characteristic switching time longer than when the steering torque is kept constant.
9. The power steering apparatus of claim 8 , wherein, when the controller switches from the second characteristic to the first characteristic while the steering torque is increasing, controller calculates the interpolation characteristic so that the steering torque will not decrease during a time period from start to completion of switching of the characteristics.
10. The power steering apparatus of claim 9 , wherein, when the controller switches from the second characteristic to the first characteristic while the steering torque is increasing, the controller calculates the interpolation characteristic on a basis of the steering torque and the characteristic to be used after the switching.
11. The power steering apparatus of claim 1 , wherein the first characteristic is set larger than the second characteristic in terms of a value of the command signal with respect to the steering torque, and when the controller switches from the first characteristic to the second characteristic while the steering torque is increasing, the controller sets the characteristic switching time longer than when the steering torque is kept constant.
12. The power steering apparatus of claim 11 , wherein, when the controller switches from the first characteristic to the second characteristic while the steering torque is increasing, the controller calculates the interpolation characteristic so that the command signal will not decrease during a time period from start to completion of switching of the characteristics.
13. The power steering apparatus of claim 12 , wherein, when the controller switches from the first characteristic to the second characteristic while the steering torque is increasing, the controller calculates the interpolation characteristic on a basis of the steering torque and the characteristic to be used after the switching.
14. The power steering apparatus of claim 1 , wherein the controller sets the characteristic switching time longer as the steering torque increases.
15. The power steering apparatus of claim 1 , wherein the controller sets the characteristic switching time shorter when the steering torque is less than a predetermined value than when the steering torque is not less than the predetermined value.