Electric power steering apparatus
An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, including: a function to switch a control system of the motor between a torque control system to control a motor output torque and a position/speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger. The fade processing time from the torque control system to the position/speed control system and the fade processing time from the position/speed control system to the torque control system are individually set.
1. An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, comprising:
a function to switch a control system of said motor between a torque control system to control a motor output torque and a position or speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger; and
an external disturbance observer to compensate inertia and friction of a handle,
wherein, when an automatic steering command is turned ON, a fade processing is started and a post-gradual change steering-angle command value in a position or speed control is gradually changed from an actual steering angle to a steering angle command value, and
wherein said post-gradual change steering-angle command value in said position or speed control is gradually changed by an exponential curve, and a level of the assist torque is gradually changed linearly, and
wherein, a fade processing time 1 from said torque control system to said position or speed control system is different from a fade processing time 2 from said position or speed control system to said torque control system.
2. The electric power steering apparatus according to claim 1 , wherein said predetermined switching trigger is ON or OFF of the automatic steering command.
3. The electric power steering apparatus according to claim 1 , wherein said predetermined switching trigger is ON or OFF of a switching command given by an internal judgment of said steering torque.
4. The electric power steering apparatus according to claim 1 , wherein said predetermined switching trigger is performed by an automatic steering execution judging section.
5. The electric power steering apparatus according to claim 1 , wherein a fade characteristic of said fade processing can be freely tuned.
6. The electric power steering apparatus according to claim 1 , wherein said fade processing time 2 is shorter than said fade processing time 1.
7. The electric power steering apparatus according to claim 4 , wherein said automatic steering execution judging section comprises:
a calculating section to calculate an angular speed and an angular acceleration by inputting a steering angle command value;
a map judging section to judge each of said steering angle command value, said angular speed and said angular acceleration with a judging map corresponding to a vehicle speed; and
a diagnosing section to diagnose based on a judgement result from said map judging section.
8. The electric power steering apparatus according to claim 1 , wherein said external disturbance observer estimates an external-disturbance estimation torque from a difference between an output of a steering inverse model of the steering system and an output of a low pass filter (LPF) to limit a band.
9. The electric power steering apparatus according to claim 8 , wherein values of inertia and friction of said steering system are greater than or equal to values of inertia and friction of said steering inverse model, respectively.
10. An electric power steering apparatus including a torque sensor to detect a steering torque and a motor control unit to control a motor that applies an assist torque to a steering system of a vehicle, comprising:
a function to switch a control system of said motor between a torque control system to control a motor output torque and a position or speed control system to control a steering angle of a steering in accordance with a predetermined switching trigger; and
an external disturbance observer to compensate inertia and friction of a handle,
wherein, when an automatic steering command is turned OFF, a fade processing is started and a post-gradual change steering-angle command value in a position or speed control is gradually changed from a steering angle command value to an actual steering angle, and
wherein said post-gradual change steering-angle command value in said position or speed control is gradually changed by an exponential curve, and a level of the assist torque is gradually changed linearly, and
wherein a fade processing time 1 from said torque control system to said position or speed control system is different from a fade processing time 2 from said position or speed control system to said torque control system.
11. The electric power steering apparatus according to claim 10 , wherein said predetermined switching trigger is ON or OFF of the automatic steering command.
12. The electric power steering apparatus according to claim 10 , wherein said predetermined switching trigger is ON or OFF of a switching command given by an internal judgment of said steering torque.
13. The electric power steering apparatus according to claim 10 , wherein said predetermined switching trigger is performed by an automatic steering execution judging section.
14. The electric power steering apparatus according to claim 10 , wherein a fade characteristic of said fade processing can be freely tuned.
15. The electric power steering apparatus according to claim 10 , wherein said fade processing time 2 is shorter than said fade processing time 1.
16. The electric power steering apparatus according to claim 13 , wherein said automatic steering execution judging section comprises:
a calculating section to calculate an angular speed and an angular acceleration by inputting a steering angle command value;
a map judging section to judge each of said steering angle command value, said angular speed and said angular acceleration with a judging map corresponding to a vehicle speed; and
a diagnosing section to diagnose based on a judgement result from said map judging section.
17. The electric power steering apparatus according to claim 10 , wherein said external disturbance observer estimates an external-disturbance estimation torque from a difference between an output of a steering inverse model of the steering system and an output of a low pass filter (LPF) to limit a band.
18. The electric power steering apparatus according to claim 17 , wherein values of inertia and friction of said steering system are greater than or equal to values of inertia and friction of said steering inverse model, respectively.