Power steering apparatus
Power steering device has steering mechanism 2, power cylinder 29 having a pair of hydraulic chambers 29 a, 29 b divided by piston 31 and providing steering force to steering mechanism, torque sensor 11 detecting steering torque Tr of steering mechanism, rotary valve 30 selectively supplying working fluid supplied from pump 9 to the pair of hydraulic chambers according to relative rotation between input and output shafts, hollow shaft motor 10 providing steering force to input shaft, control unit 13 in which microcomputer is mounted, and torque command signal operating section 61 provided in control unit and configured to calculate torque command signal Tm* for driving and controlling electric motor 10 on the basis of the steering torque Tr and vehicle speed Vs and when vehicle speed is a predetermined vehicle speed or greater, set torque command signal to 0. With this, physical size of power steering device can be decreased.
1. A power steering device comprising:
a steering mechanism having an input shaft that rotates according to a steering operation of a steering wheel, an output shaft that is connected to the input shaft through a torsion bar and a transmission mechanism that transmits rotation of the output shaft to steered wheels;
a power cylinder having a pair of hydraulic chambers that are divided by a piston and providing a steering force to the steering mechanism;
a torque sensor configured to detect a steering torque of the steering mechanism;
a rotary valve configured to selectively supply working fluid that is supplied from a pump provided outside the steering mechanism to the pair of hydraulic chambers of the power cylinder according to relative rotation between the input shaft and the output shaft;
an electric motor providing a steering force to the input shaft;
a control unit in which a microcomputer is mounted; and
a torque command signal operating section provided in the control unit, the torque command signal operating section configured to calculate a torque command signal for driving and controlling the electric motor on the basis of the steering torque and a vehicle speed and when the vehicle speed is a predetermined vehicle speed or greater, set the torque command signal to 0.
2. The power steering device as claimed in claim 1 , wherein:
the control unit has a steering velocity signal receiving section configured to receive a signal of a steering velocity, and
the torque command signal operating section is configured to, when the steering velocity is equal to or greater than a predetermined value, correct the torque command signal so as to increase.
3. The power steering device as claimed in claim 1 , wherein:
the control unit has a phase lead signal generating section configured to generate a phase lead signal obtained by advancing a phase of the steering torque or the torque command signal, and
the torque command signal operating section is configured to correct the torque command signal so as to increase on the basis of the phase lead signal.
4. The power steering device as claimed in claim 3 , wherein:
the phase lead signal generating section is a filter.
5. The power steering device as claimed in claim 1 , wherein:
the control unit has a phase lead signal generating section configured to generate a phase lead signal obtained by advancing a phase of the steering torque or the torque command signal, a torque command signal limiter section configured to provide an upper limit value for the torque command signal and a phase lead signal limiter section configured to provide an upper limit value for the phase lead signal.
6. The power steering device as claimed in claim 5 , wherein:
the upper limit value for the phase lead signal is set to be equal to or greater than the upper limit value for the torque command signal.
7. The power steering device as claimed in claim 6 , wherein:
the torque command signal limiter section is configured to variably control the upper limit value for the torque command signal according to the vehicle speed, and
the phase lead signal limiter section is configured to variably control the upper limit value for the phase lead signal according to the vehicle speed.
8. The power steering device as claimed in claim 5 , wherein:
the control unit has a motor command signal limiter section configured to provide an upper limit value of a motor command signal that is a signal obtained by adding a signal passing through the phase lead signal limiter section to a signal passing through the torque command signal limiter section.
9. The power steering device as claimed in claim 8 , wherein:
the motor command signal limiter section is configured to variably control the upper limit value of the motor command signal according to the vehicle speed.
10. The power steering device as claimed in claim 1 , wherein:
the control unit has a steering velocity signal receiving section configured to receive a signal of a steering velocity, and
the torque command signal operating section is configured to calculate the torque command signal so that when a rate of increase of the steering velocity is less than a predetermined value or when a rate of increase of the steering torque is less than a predetermined value, the steering force provided to the steering mechanism by the electric motor is smaller than the steering force provided to the steering mechanism by the power cylinder.
11. The power steering device as claimed in claim 1 , wherein:
the control unit is configured to start the drive control of the electric motor when the steering torque is equal to or greater than a steering start torque that is a predetermined value, and
the power cylinder is configured to start to provide the steering force to the steering mechanism in a region in which the steering torque is smaller than the steering start torque.
12. The power steering device as claimed in claim 1 , wherein:
the torque command signal operating section is configured to calculate the torque command signal so that a rotation angle of the electric motor becomes a target angle, and in a steering wheel-holding state in which a steering velocity is equal to or less than a predetermined value, decrease-correct the torque command signal.
13. The power steering device as claimed in claim 12 , wherein:
a difference of the steering force by the power cylinder occurs between a variation when the steering torque increases and a variation when the steering torque decreases, and
the torque command signal operating section is configured to, in the steering wheel-holding state in which the steering velocity is equal to or less than the predetermined value, decrease-correct the torque command signal by an amount of the difference.
14. The power steering device as claimed in claim 1 , wherein:
the torque command signal operating section is configured to, when a steering velocity is greater than a steering velocity upper limit value calculated on the basis of the vehicle speed, decrease-correct the torque command signal.
15. The power steering device as claimed in claim 1 , wherein:
the steering force by the power cylinder for the steering torque has a single characteristic regardless of a change of the vehicle speed.
16. The power steering device as claimed in claim 1 , wherein:
the input shaft has a first input shaft connected to the steering wheel and a second input shaft connected to the first input shaft through a torque sensor torsion bar that is different from the torsion bar,
the torque sensor is configured to detect the steering torque according to a torsion amount of the torque sensor torsion bar, and
a rigidity of the torque sensor torsion bar is set to be equal to or greater than a rigidity of the torsion bar.