Steering apparatus and steering control method
The present disclosure relates to a steering apparatus and a steering control method. A steering apparatus of the present disclosure comprises: a sensor which measures the steering angle on the basis of the torque of a steering wheel; a steering control module including one electronic control unit that controls a reaction force motor by using information on the steering angle measured by the sensor; and an auxiliary reaction force module which provides a reaction force to a steering shaft or a motor shaft by not applying a current from the electronic control unit during an abnormal operation of the electronic control unit.
1. A steering device, comprising:
a sensor measuring a steering angle by a steering force of a steering wheel;
a steering control module including an electronic control unit to control a reaction force motor using steering angle information measured by the sensor;
an auxiliary reaction force module providing a reaction force to a steering shaft or a motor shaft as no current is applied by the electronic control unit when the electronic control unit abnormally operates; and
a metal plate mounted in a first direction perpendicular to the steering shaft or the motor shaft, wherein
the auxiliary reaction force module includes an electromagnet, a first permanent magnet, and a second permanent magnet,
the first permanent magnet is located on an upper side of the metal plate and is orientated to have one pole facing towards the metal plate in a second direction perpendicular to the metal plate and to be spaced away from the metal plate in the second direction,
the second permanent magnet is located on a lower side of the metal plate and is orientated to have one pole facing towards the metal plate in the second direction perpendicular to the metal plate and to be spaced away from the metal plate in the second direction,
the one pole of the first permanent magnet and the one pole of the second permanent magnet have different polarities,
in a state that the electronic control unit normally operates, the electronic control unit is configured to apply a current to the electromagnet of the auxiliary reaction force module such that the electromagnet exerts a force away from the steering shaft or the motor shaft to cause the first and second permanent magnets to be spaced apart from (i) the steering shaft or the motor shaft and (ii) the metal plate by a predetermined distance in the first direction perpendicular to the steering shaft or the motor shaft, and
in response to determining that the electronic control unit abnormally operates, the electronic control unit is configured to apply no current to the electromagnet of the auxiliary reaction force module such that the first and second permanent magnets move towards the steering shaft or the motor shaft to be positioned on the metal plate to generate an eddy current in the metal plate thereby applying the reaction force to the steering shaft or the motor shaft.
2. The steering device of claim 1 , further comprising actuator configured to perform steering control on a wheel of a vehicle, wherein the actuator is configured to perform the steering control by receiving the steering angle information measured by the sensor regardless of an operating state of the electronic control unit of the steering control module.
3. The steering device of claim 1 , wherein a maximum reaction force provided to the steering shaft or the motor shaft by the auxiliary reaction force module and exerted to the steering wheel is 4 Nm.
4. The steering device of claim 1 , further comprising a switch configured to open or short a current supply line for the auxiliary reaction force module based on a current by the electronic control unit, wherein the switch is configured to short the line to allow the auxiliary reaction force module to provide the reaction force to the steering shaft or the motor shaft when the electronic control unit abnormally operates.
5. A steering control method, comprising:
receiving steering angle information by a steering force of a steering wheel measured by a sensor, by an electronic control unit of a steering control module;
controlling a reaction force motor using the steering angle information measured by the sensor, by the electronic control unit; and
supplying no current to an auxiliary reaction force module, by the electronic control unit, to allow the electronic control unit to provide a reaction force to a steering shaft or a motor shaft when the electronic control unit abnormally operates,
wherein
a metal plate is mounted in a first direction perpendicular to the steering shaft or the motor shaft,
the auxiliary reaction force module includes an electromagnet, a first permanent magnet, and a second permanent magnet,
the first permanent magnet is located on an upper side of the metal plate and is orientated to have one pole facing towards the metal plate in a second direction perpendicular to the metal plate and to be spaced away from the metal plate in the second direction,
the second permanent magnet is located on a lower side of the metal plate and is orientated to have one pole facing towards the metal plate in the second direction perpendicular to the metal plate and to be spaced away from the metal plate in the second direction,
the one pole of the first permanent magnet and the one pole of the second permanent magnet have different polarities,
in response to determining that the electronic control unit normally operates, a current is supplied to the electromagnet of the auxiliary reaction force module by the electronic control unit such that the electromagnet exerts a force in a direction away from the steering shaft or the motor shaft to cause the first and second permanent magnets to be spaced apart from (i) the steering shaft or the motor shaft and (ii) the metal plate by a predetermined distance in the first direction perpendicular to the steering shaft or the motor shaft, and
in response to determining that the electronic control unit abnormally operates, no current is supplied by the electronic control unit to the electromagnet of the auxiliary reaction force module such that the first and second permanent magnets move towards the steering shaft or the motor shaft to be positioned on the metal plate to generate an eddy current in the metal plate thereby applying the reaction force to the steering shaft or the motor shaft.