Steering control device and steering control method
A steering control device and a steering control method are disclosed. Particularly, a steering control device according to the disclosure comprises: a command current calculation unit for calculating a first command current on the basis of detected steering wheel steering information; a resistance calculation unit for calculating internal resistance on the basis of a detected internal temperature; a supply current estimation unit for estimating the supply current of a battery on the basis of an input supply voltage of the battery, the first command current and the internal resistance; and a command current applying unit for comparing the supply current and a preset reference current and, if the supply current is greater than the reference current, changing the first command current to a second command current and applying the second command current to a steering motor.
1. A steering control device, comprising:
a command current calculation unit calculating a first command current based on detected steering information for a steering wheel;
a resistance calculation unit calculating an internal resistance based on a detected internal temperature;
a supply current estimation unit estimating a supply current of a battery based on the internal resistance, the first command current, and an input supply voltage of the battery; and
a command current application unit comparing the supply current with a preset reference current, changing the first command current to a second command current if the supply current is greater than the reference current, and applying the second command current to a steering motor.
2. The steering control device of claim 1 , wherein the resistance calculation unit previously sets a reference temperature and a reference resistance corresponding to the reference temperature and calculates the internal resistance using the reference resistance and a difference between the internal temperature and the reference temperature.
3. The steering control device of claim 2 , wherein the resistance calculation unit determines a correction value by reflecting the difference and a preset temperature coefficient to the reference resistance and calculates the internal resistance by adding the correction value to the reference resistance.
4. The steering control device of claim 2 , wherein the internal temperature is divided into an internal temperature of the steering control device and an internal temperature of the steering motor, and
wherein the internal resistance is divided into a resistance of an element constituting the steering control device and a resistance of a winding of the steering motor.
5. The steering control device of claim 4 , wherein the reference temperature and the reference resistance are separately set for each of the steering control device and the steering motor, and
wherein the internal temperature of the steering motor is estimated based on the internal temperature of the steering control device.
6. The steering control device of claim 1 , wherein the internal resistance increases as the internal temperature increases.
7. The steering control device of claim 1 , wherein the supply current estimation unit is fed back with an output of the steering motor and estimates the supply current by reflecting the output of the steering motor.
8. The steering control device of claim 1 , wherein if the first command current is changed to the second command current, the supply current estimation unit re-estimates the supply current by reflecting the second command current instead of the first command current.
9. The steering control device of claim 1 , wherein the command current application unit repeats a first process for reducing a maximum value of the first command current by a preset decrement and a second process for re-comparing a supply current re-estimated based on the reduced command current with the reference current if the supply current is greater than the reference current, and
if the re-estimated supply current meets being equal to or less than the reference current, applies a second command current corresponding to the re-estimated supply current to the steering motor.
10. The steering control device of claim 1 , wherein the command current application unit,
calculates the difference between the supply current and the reference current if the supply current is greater than the reference current,
extracts a decrement corresponding to the difference based on a preset lookup table, and
changes to the second command current reduced by the extracted decrement from a maximum value of the first command current.
11. The steering control device of claim 1 , wherein the command current application unit applies the first command current to the steering motor if the supply current is equal to or less than the reference current.
12. A steering control method, comprising:
a command current calculation step calculating a first command current based on detected steering information for a steering wheel;
a resistance calculation step calculating an internal resistance based on a detected internal temperature;
a supply current estimation step estimating a supply current of a battery based on the internal resistance, the first command current, and an input supply voltage of the battery; and
a command current application step comparing the supply current with a preset reference current, changing the first command current to a second command current if the supply current is greater than the reference current, and applying the second command current to a steering motor.
13. The steering control method of claim 12 , wherein the resistance calculation step previously sets a reference temperature and a reference resistance corresponding to the reference temperature and calculates the internal resistance using the reference resistance and a difference between the internal temperature and the reference temperature.
14. The steering control method of claim 13 , wherein the resistance calculation step determines a correction value by reflecting the difference and a preset temperature coefficient to the reference resistance and calculates the internal resistance by adding the correction value to the reference resistance.
15. The steering control method of claim 13 , wherein the internal temperature is divided into an internal temperature of the steering control device and an internal temperature of the steering motor, and
wherein the internal resistance is divided into a resistance of an element constituting the steering control device and a resistance of a winding of the steering motor.
16. The steering control method of claim 15 , wherein the reference temperature and the reference resistance are separately set for each of the steering control device and the steering motor, and
wherein the internal temperature of the steering motor is estimated based on the internal temperature of the steering control device.
17. The steering control method of claim 12 , wherein the supply current estimation step is fed back with an output of the steering motor and estimates the supply current by reflecting the output of the steering motor.
18. The steering control method of claim 12 , wherein the command current application step repeats a first process for reducing a maximum value of the first command current by a preset decrement and a second process for re-comparing a supply current re-estimated based on the reduced command current with the reference current if the supply current is greater than the reference current, and
if the re-estimated supply current meets being equal to or less than the reference current, applies a second command current corresponding to the re-estimated supply current to the steering motor.
19. The steering control method of claim 12 , wherein the command current application step,
calculates the difference between the supply current and the reference current if the supply current is greater than the reference current,
extracts a decrement corresponding to the difference from a preset decrement table, and
changes to the second command current reduced by the extracted decrement from a maximum value of the first command current.
20. The steering control method of claim 12 , wherein the command current application step applies the first command current to the steering motor if the supply current is equal to or less than the reference current.