Steering control apparatus, steering assist apparatus and steering system
The present embodiments relate to a steering control device, a steering assist device, and a steering system. A steering control device comprises an input-side steering control module controlling an input-side steering motor to assist an input-side mechanism mechanically separated from an output-side mechanism connected with a wheel and connected with a steering wheel. The input-side steering control module may control the input-side steering motor and the telescopic motor.
1. A steering control device, comprising an input-side steering control module controlling an input-side steering motor to assist an input-side mechanism mechanically separated from an output-side mechanism connected with a wheel and connected with a steering wheel,
the input-side steering control module comprising:
a controller unit generating a steering motor control signal and a telescopic motor control signal; and
a steering motor power source unit controlling the input-side steering motor based on the steering motor control signal and controlling a telescopic motor based on the telescopic motor control signal, wherein
the steering motor power source unit includes:
a switch element driver generating a switch control signal based on the steering motor control signal;
a first inverter generating a first assist current by converting electric energy according to the switch control signal and providing the first assist current to the input-side steering motor; and
a second inverter generating a second assist current by converting the electric energy according to the telescopic motor control signal and providing the second assist current to the telescopic motor,
wherein the second inverter comprises a first relay as a high-side switch element corresponding to a plus (+) phase of the telescopic motor, a second relay as a high-side switch element corresponding to a minus (−) phase of the telescopic motor, a fourth FET (field effect transistor) as a low-side switch element corresponding to the plus (+) phase of the telescopic motor, and a fifth FET as a low-side switch element corresponding to the minus (−) phase of the telescopic motor, and
wherein the switch element driver is configured to control one of the fourth FET and the fifth FET of the second inverter to be turned-on and turned-off repeatedly by a FET gate control signal of PWM (pulse width modulation) while one of the first relay and the second relay of the second inverter is being controlled to maintain a turned-on state.
2. The steering control device of claim 1 , wherein the steering motor power source unit simultaneously controls the input-side steering motor and the telescopic motor based on the steering motor control signal and the telescopic motor control signal.
3. The steering control device of claim 1 , wherein
the first inverter includes a first high-side switch element and a first low-side switch element corresponding to phase A of the input-side steering motor, a second high-side switch element and a second low-side switch element corresponding to phase B of the input-side steering motor, and a third high-side switch element and a third low-side switch element corresponding to phase C of the input-side steering motor, and wherein
the switch element driver generates a switch control signal for controlling the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element based on the steering motor control signal.
4. The steering control device of claim 3 , wherein
the controller unit generates the telescopic motor control signal for controlling the first relay, the fourth FET, the second relay, and the fifth FET.
5. The steering control device of claim 4 , wherein the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element include a field effect transistor (FET), wherein
the switch element driver includes a gate driver.
6. The steering control device of claim 5 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the first relay based on the first relay control signal and, while the first relay maintains an on state, turns on or off the fifth FET based on the fifth LS FET gate control signal so as to allow the telescopic motor to rotate in a forward direction.
7. The steering control device of claim 5 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the second relay based on the second relay control signal and, while the second relay maintains an on state, turns on or off the fourth FET based on the fourth LS FET gate control signal so as to allow the telescopic motor to rotate in a reverse direction.
8. A steering assist device, comprising:
an input-side steering motor located on an input-side mechanism;
a telescopic motor located on the input-side mechanism; and
an input-side steering control module controlling the input-side steering motor to assist the input-side mechanism mechanically separated from an output-side mechanism connected with a wheel and connected with a steering wheel, wherein
the input-side steering control module includes:
a controller unit generating a steering motor control signal and a telescopic motor control signal and a steering motor power source unit controlling the input-side steering motor based on the steering motor control signal and controlling the telescopic motor based on the telescopic motor control signal, and wherein
the steering motor power source unit includes:
a switch element driver generating a switch control signal based on the steering motor control signal;
a first inverter generating a first assist current by converting electric energy according to the switch control signal and providing the first assist current to the input-side steering motor; and
a second inverter generating a second assist current by converting the electric energy according to the telescopic motor control signal and providing the second assist current to the telescopic motor,
wherein the second inverter comprises a first relay as a high-side switch element corresponding to a plus (+) phase of the telescopic motor, a second relay as a high-side switch element corresponding to a minus (−) phase of the telescopic motor, a fourth FET (field effect transistor) as a low-side switch element corresponding to the plus (+) phase of the telescopic motor, and a fifth FET as a low-side switch element corresponding to the minus (−) phase of the telescopic motor, and
wherein the switch element driver is configured to control one of the fourth FET and the fifth FET of the second inverter to be turned-on and turned-off repeatedly by a FET gate control signal of PWM (pulse width modulation) while one of the first relay and the second relay of the second inverter is being controlled to maintain a turned-on state.
9. The steering assist device of claim 8 , wherein the steering motor power source unit simultaneously controls the input-side steering motor and the telescopic motor based on the steering motor control signal and the telescopic motor control signal.
10. The steering assist device of claim 8 , wherein the first inverter includes a first high-side switch element and a first low-side switch element corresponding to phase A of the input-side steering motor, a second high-side switch element and a second low-side switch element corresponding to phase B of the input-side steering motor, and a third high-side switch element and a third low-side switch element corresponding to phase C of the input-side steering motor, and wherein
the switch element driver generates a switch control signal for controlling the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element based on the steering motor control signal.
11. The steering assist device of claim 10 , wherein
the controller unit generates the telescopic motor control signal for controlling the first relay, the fourth FET, the second relay, and the fifth FET.
12. The steering assist device of claim 11 , wherein the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element include a field effect transistor (FET), wherein
the switch element driver includes a gate driver.
13. The steering assist device of claim 12 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the first relay based on the first relay control signal and, while the first relay maintains an on state, turns on or off the fifth FET based on the fifth LS FET gate control signal so as to allow the telescopic motor to rotate in a forward direction.
14. The steering assist device of claim 12 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the second relay based on the second relay control signal and, while the second relay maintains an on state, turns on or off the fourth FET based on the fourth LS FET gate control signal so as to allow the telescopic motor to rotate in a reverse direction.
15. A steering system, comprising:
a steering device including an output-side mechanism connected with a wheel and an input-side mechanism mechanically separated from the output-side mechanism and connected with a steering wheel; and
a steering assist device including an input-side steering motor located on the input-side mechanism, a telescopic motor located on the input-side mechanism, and an input-side steering control module controlling the input-side steering motor to assist the input-side mechanism, wherein
the input-side steering control module includes:
a controller unit generating a steering motor control signal and a telescopic motor control signal and a steering motor power source unit controlling the input-side steering motor based on the steering motor control signal and controlling the telescopic motor based on the telescopic motor control signal, and wherein
the steering motor power source unit includes:
a switch element driver generating a switch control signal based on the steering motor control signal;
a first inverter generating a first assist current by converting electric energy according to the switch control signal and providing the first assist current to the input-side steering motor; and
a second inverter generating a second assist current by converting the electric energy according to the telescopic motor control signal and providing the second assist current to the telescopic motor,
wherein the second inverter comprises a first relay as a high-side switch element corresponding to a plus (+) phase of the telescopic motor, a second relay as a high-side switch element corresponding to a minus (−) phase of the telescopic motor, a fourth FET (field effect transistor) as a low-side switch element corresponding to the plus (+) phase of the telescopic motor, and a fifth FET as a low-side switch element corresponding to the minus (−) phase of the telescopic motor, and
wherein the switch element driver is configured to control one of the fourth FET and the fifth FET of the second inverter to be turned-on and turned-off repeatedly by a FET gate control signal of PWM (pulse width modulation) while one of the first relay and the second relay of the second inverter is being controlled to maintain a turned-on state.
16. The steering system of claim 15 , wherein the first inverter includes a first high-side switch element and a first low-side switch element corresponding to phase A of the input-side steering motor, a second high-side switch element and a second low-side switch element corresponding to phase B of the input-side steering motor, and a third high-side switch element and a third low-side switch element corresponding to phase C of the input-side steering motor, and wherein
the switch element driver generates a switch control signal for controlling the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element based on the steering motor control signal.
17. The steering system of claim 16 , wherein
the controller unit generates the telescopic motor control signal for controlling the first relay, the fourth FET, the second relay, and the fifth FET.
18. The steering system of claim 17 , wherein the first high-side switch element, the first low-side switch element, the second high-side switch element, the second low-side switch element, the third high-side switch element, and the third low-side switch element include a field effect transistor (FET), wherein
the switch element driver includes a gate driver.
19. The steering system of claim 18 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the first relay based on the first relay control signal and, while the first relay maintains an on state, turns on or off the fifth FET based on the fifth LS FET gate control signal so as to allow the telescopic motor to rotate in a forward direction.
20. The steering system of claim 18 , wherein
if a telescopic motor control signal controlling the first relay is a first relay control signal, a telescopic motor control signal controlling the fourth FET is a fourth LS FET gate control signal, a telescopic motor control signal controlling the second relay is a second relay control signal, and a telescopic motor control signal controlling the fifth FET is a fifth LS FET gate control signal, the controller unit turns on the second relay based on the second relay control signal and, while the second relay maintains an on state, turns on or off the fourth FET based on the fourth LS FET gate control signal so as to allow the telescopic motor to rotate in a reverse direction.