Method for the control of vehicle steering
Methods of controlling a feedback torque actuator in a steering system that includes the feedback torque actuator and an assistance actuator incorporate, for feedback torque control, generating at least one input signal with a sensor, determining a steering angle from the input signal, transforming the steering angle to a target steering-wheel torque, and controlling the feedback torque actuator via a closed loop current control to achieve the target steering-wheel torque. The assistance actuator has a high gain, thereby resulting in a low torque in the axle above the assistance actuator such that the steering-wheel torque is close to the target steering-wheel torque, whereby acceptable steering feel is achieved.
1. A method of controlling a feedback torque actuator in a steering system, comprising:
removing external steering wheel torque from a steering wheel connected to a column axle by using an assistance actuator, wherein the assistance actuator is disposed below the feedback torque actuator on the column axle;
generating at least one input signal with a sensor of a steering angle;
determining the steering angle from the at least one input signal;
transforming the at least one input signal to a target steering-wheel torque; and
controlling the feedback torque actuator via a closed loop current control to obtain the target steering-wheel torque in the steering wheel, such that the target steering-wheel torque provides a feel of the external steering wheel torque in the steering wheel while removing torque steer and kickbacks from the steering wheel, wherein the target steering-wheel torque in the column axle above the assistance actuator is based on a caster angle of a front-wheel suspension.
2. The method of claim 1 , wherein the torque in the column axle above the assistance actuator is further based on a gain of the assistance torque actuator.
3. The method of claim 1 , wherein the torque in the column axle is compensated for deviation from an ideal torque in the column axle by adding a compensation torque to the target steering-wheel torque, whereby the closed loop current control obtains the target steering-wheel torque.