Steering control unit
A steering control unit includes a microcomputer that controls the driving of a motor on the basis of a steering torque to cause the motor to produce an assist force that is supplied to a steering mechanism as power to steer front wheels. The microcomputer calculates, on the basis of the steering torque, an assist component indicative of the assist force that the motor needs to produce. The microcomputer obtains vertical forces related to the front wheels that are calculated by hub units that rotatably support the front wheels and have front wheel sensors for detecting forces applied to the front wheels. The microcomputer compensates the assist component by using the obtained vertical forces, to reduce a change in load on a driver that is caused when vertical loads on the front wheels change.
1. A steering control unit comprising:
a control unit that controls driving of a motor in response to a steering operation that a driver performs to operate a steering mechanism of a vehicle, the motor being a source of an assist force supplied to the steering mechanism, wherein the control unit is configured to
obtain a vertical force that is information about a vertical load on a steered wheel of the vehicle, the vertical load being obtained by a bearing device that rotatably supports the steered wheel and that has a sensor for detecting a force applied to the steered wheel,
calculate a torque command value that is a target for the assist force of the motor, the torque command including a multiplication of an assist component and a load compensation component,
calculate the load compensation component in accordance with the vertical load, and
calculate the assist component, wherein
the assist force reduces the change in load on the driver that is caused when the vertical load on the steered wheel changes,
the load compensation component is a compensation gain that has a linear relationship with change in the vertical force,
the compensation gain is calculated in accordance with a percentage of change in the vertical force with respect to a predetermined reference value, and
the reference value is predetermined such that when the vertical force is equal to the reference value, it is not necessary to make compensation that reduces the change in load on the driver that is caused when the vertical load on the steered wheel changes.
2. The steering control unit according to claim 1 , wherein
when the vertical force has a predetermined first value that indicates an increase in the vertical load, the control unit compensates the assist component such that the assist component increases, and
when the vertical force has a predetermined second value that indicates a decrease in the vertical load, the control unit compensates the assist component such that the assist component decreases.
3. The steering control unit according to claim 1 , wherein
the assist component includes a basic assist component and a basic compensation component,
the basic assist component is a basic component of the assist force,
the basic compensation component compensates the basic assist component to make the basic assist component appropriate for conditions of the vehicle and the steering mechanism,
the control unit calculates the assist component by adding together a plurality of components including the basic assist component and the basic compensation component, and
the control unit calculates the load compensation component to reduce the change in load on the driver that is caused when the vertical load on the steered wheel changes.
4. The steering control unit according to claim 1 , wherein
the steered wheel includes right and left steered wheels of the vehicle,
the control unit includes an adder that calculates a total vertical force by adding together the vertical forces on the right and left steered wheels, and
the control unit sets the load compensation component by using the total vertical force.
5. A steering control unit comprising;
a control unit that controls driving of a motor on a basis of an operation state quantity that changes in response to a steering operation that a driver performs to operate a steering mechanism of a vehicle, the motor being a source of an assist force supplied to the steering mechanism, wherein the control unit is configured to
obtain a vertical force that is information about a vertical load on a steered wheel of the vehicle, the vertical load being obtained by a bearing device that rotatably supports the steered wheel and that has a sensor for detecting a force applied to the steered wheel,
calculate a torque command value that is a target for the assist force of the motor, the torque command including a combination of a basic assist component, a basic compensation component, and a load compensation component,
calculate the basic assist component,
calculate the basic compensation component using values appropriate for conditions of the vehicle and the steering mechanism, and
calculate the load compensation component to reduce a change in load on the driver that is caused when the vertical load on the steered wheel changes, wherein
the load compensation component is a compensation gain that has a linear relationship with change in the vertical force,
the compensation gain is calculated in accordance with a percentage of change in the vertical force with respect to a predetermined reference value, and
the reference value is predetermined such that when the vertical force is equal to the reference value, it is not necessary to make compensation that reduces the change in load on the driver that is caused when the vertical load on the steered wheel changes.
6. The steering control unit of claim 5 , wherein the basic assist component is calculated based on steering torque and wheel speed.
7. The steering control unit of claim 6 , wherein the basic compensation component includes a damping compensation component that varies opposite to steering velocity, and includes an active return compensation component that increases as steering angle increases.
8. The steering control unit of claim 5 , wherein an absolute value of the basic assist increases with increasing absolute value of steering torque.
9. The steering control unit of claim 8 , wherein an absolute value of the basic assist increases with decreasing wheel speed.
10. The steering control unit of claim 5 , wherein the basic compensation component includes a damping compensation component that varies opposite to steering velocity, and includes an active return compensation component that increases as steering angle increases.