Steer-by-wire steering system comprising an adapted control signal, and method for operating a steer-by-wire steering system
View Patent ↗The present disclosure relates to a steer-by-wire steering system for a motor vehicle containing a steering shaft that can be torsionally connected to a steering handling device, a feedback actuator having an electric motor acting on a rotor shaft, a transmission by means of which the rotor shaft is connected to the steering shaft, and a first angle sensor and a second angle sensor. A control unit assigned to the steering system is designed to receive a first sensor signal S provided by the first angle sensor, to receive a second sensor signal S provided by the second angle sensor, and to provide a control signal ST for controlling the electric motor.
1 . A steer-by-wire steering system for a motor vehicle comprising:
a steering shaft configured to be torsionally connected to a steering handling device;
a feedback actuator including an electric motor acting on a rotor shaft
a transmission through which the rotor shaft is connected to the steering shaft;
a first angle sensor; and
a second angle sensor, wherein a control unit assigned to the steering system configured to receive a first sensor signal (S 1 ) provided by the first angle sensor, and to receive a second sensor signal (S 2 ) provided by the second angle sensor and to provide a control signal (ST*, ST) for controlling the electric motor, wherein that the first angle sensor is positioned on the steering shaft to detect a rotation of the steering shaft and provide it as the first sensor signal (S 1 ), that the second angle sensor is positioned on the rotor shaft to detect rotation of the rotor shaft and provide it as the second sensor signal (S 2 ), and wherein the control unit is further configured to determine a difference between the rotation of the steering shaft and the correspondingly transmitted rotation of the rotor shaft based on the first sensor signal (S 1 ) and the second sensor signal (S 2 ), taking into account a model (M) of the transmission stored in the control unit, and to adjust the control signal (ST*) taking into account the difference.
2 . The steer-by-wire steering system of claim 1 , wherein the model (M) of the transmission stored in the control unit takes into account at least one of the following characteristics: gear ratio; transmission stiffness; transmission inertia; transmission backlash; transmission temperature.
3 . The steer-by-wire steering system of claim 1 , wherein values for the difference are each assigned a factor, wherein the control unit is further configured to adjust the control signal (ST*) by multiplication by the factor assigned to the determined difference.
4 . The steer-by-wire steering system of claim 1 , wherein the control unit is further configured to determine the control signal (ST) according to a functional relationship, taking into account the determined difference or a factor assigned to the value of the determined difference in the functional relationship in order to adjust the control signal (ST*) taking into account the difference.
5 . The steer-by-wire steering system of claim 1 , wherein the first angle sensor or the second angle sensor is a single-turn sensor.
6 . The steer-by-wire steering system of claim 1 , wherein the first angle sensor or the second angle sensor is a multi-turn sensor.
7 . The steer-by-wire steering system of claim 1 , wherein the transmission contains only components and/or materials with properties that are predictable when the transmission is used in the steering system.
8 . The steer-by-wire steering system of claim 1 , wherein the control unit is further designed to adjust the control signal (ST*) in such a way that a torque provided by the electric motor is increased if the difference is negative.
9 . A method for operating a steer-by-wire steering system, which contains a steering shaft that can be torsionally connected to a steering handling device, a feedback actuator which has an electric motor driving a rotor shaft, a transmission through which the rotor shaft is connected to the steering shaft, a first angle sensor and a second angle sensor,
wherein a control unit assigned to the steering system receives a first sensor signal (S 1 ) provided by the first angle sensor, receives a second sensor signal (S 2 ) provided by the second angle sensor and provides a control signal (ST*, ST) for controlling the electric motor,
the first angle sensor detecting a rotation of the steering shaft and providing it as the first sensor signal (S 1 );
the second angle sensor detecting a rotation of the rotor shaft and providing it as the second sensor signal (S 2 ); and
the control unit determining a difference between the rotation of the steering shaft and the correspondingly transmitted rotation of the rotor shaft based on the first sensor signal (S 1 ) and the second sensor signal (S 2 ), taking into account a model (M) of the transmission stored in the control unit, and adjusts the control signal (ST*) taking into account the difference.
10 . The method of claim 9 , wherein the model (M) of the transmission, at least one of the following characteristics is taken into account: transmission ratio; transmission stiffness; transmission inertia; transmission backlash; transmission temperature.
11 . The method of claim 9 , wherein values for the difference are each assigned a factor, wherein the control unit adjusts the control signal (ST*) by multiplication by this factor.
12 . The method of claim 9 , wherein the control unit determines the control signal (ST) according to a functional relationship, taking into account the determined difference or a factor assigned to the value of the determined difference in the functional relationship in order to adjust the control signal (ST*) taking into account the difference.
13 . The method of claim 9 , wherein the control unit adjusts the control signal (ST*) in such a way that a torque provided by the electric motor is increased if the determined difference is negative.
14 . The method of claim 9 , wherein the steer-by-wire steering system includes the system of claim 1 .