Method for checking a steer-by-wire steering system, steering system, and vehicle
The disclosure relates to a method for checking a steer-by-wire steering system that includes a steering device, a steering wheel, an actuator configured to exert a torque on the steering wheel, and a control unit configured to correlate a steering wheel angle of the steering wheel with a steering angle of the steering device The method comprises the following steps: i) the actuator is controlled in a closed-loop manner such that the steering wheel angle is correlated with a desired angle and a temporal progression of a state variable of the steering wheel and/or of the actuator is determined; ii) a frequency spectrum of the temporal progression of the state variable is determined and an amplitude of a predefined spectral component of the frequency spectrum is determined; and, iii) a state of the mechanical coupling is classified depending on the amplitude of the spectral component.
1 . A method for checking a steer-by-wire steering system, the steering system comprising a steering device configured to be connected to vehicle wheels, a steering wheel, an actuator configured to exert a torque on the steering wheel via a mechanical coupling, and a control unit configured to adjust a steering wheel angle of the steering wheel to correlate with a steering angle of the steering device via controlling of the actuator, the method comprising:
controlling, in a control step, the actuator of the steering wheel so that the steering wheel angle is correlated with a desired angle and a temporal progression of a state variable of the steering wheel is determined;
determining, in an analysis step, a frequency spectrum of the temporal progression of the state variable and an amplitude of a predefined spectral component of the frequency spectrum, the predefined spectral component corresponding to a state of the mechanical coupling; and
classifying, in a classification step, a state of the mechanical coupling based on the amplitude of the predefined spectral component.
2 . The method according to claim 1 , wherein in an adjustment step following the classification step, a control parameter for the controlling of the actuator is adjusted based on the amplitude of the predefined spectral component.
3 . The method according to claim 1 , wherein in a display step following the classification step, a degree of degradation of the mechanical coupling is displayed.
4 . The method according to claim 1 , wherein the state variable is a torque of the steering wheel.
5 . The method according to claim 1 , wherein the mechanical coupling is a gear set.
6 . The method according to claim 1 , wherein the frequency spectrum is determined via a fast Fourier transformation.
7 . The method according to claim 2 , wherein the controlling of the actuator depends on: i) a difference between the steering wheel angle and the desired angle, and ii) a rate of change over time of the steering wheel angle.
8 . The method according to claim 7 , wherein the control parameter is a first amplification factor configured to amplify the difference between the steering wheel angle and the desired angle, and, in the adjustment step, a second amplification factor for the controlling of the actuator is adjusted based on the rate of change over time of the steering wheel angle.
9 . A steer-by-wire steering system comprising:
a steering device connected to vehicle wheels,
a steering wheel,
an actuator configured to exert a torque on the steering wheel via a mechanical coupling, and
a control unit configured such that:
in a control step, the actuator is controlled by the control unit such that a steering wheel angle correlates with a desired angle, and the control unit is configured to determine a temporal progression of a state variable of at least one of the steering wheel and the actuator, and controlling of the actuator depends on: i) a difference between the steering wheel and the desired angle, and ii) a rate of change over time of the steering wheel angle;
in an analysis step, the control unit determines a frequency spectrum of the temporal progression of the state variable and determines an amplitude of a predefined spectral component of the frequency spectrum; and
in a classification step, of the control unit classifies a state of the mechanical coupling is carried out based on the amplitude of the predefined spectral component; and
in an adjustment step: i) a control parameter for the controlling of the actuator is adjusted based on the amplitude of the predefined spectral component, and the control parameter is a first amplification factor configured to amplify the difference between the steering wheel angle and the desired angle, and ii) a second amplification factor for the controlling of the actuator is adjusted based on the rate of change over time of the steering wheel angle.
10 . A vehicle comprising a steer-by-wire steering system according to claim 9 .
11 . The method according to claim 1 , wherein the state variable is an angle of rotation of the steering wheel.
12 . The method according to claim 1 , wherein the mechanical coupling is a worm gear set.
13 . A method for checking a steer-by-wire steering system, the steering system comprising a steering device configured to be connected to vehicle wheels, a steering wheel, an actuator configured to exert a torque on the steering wheel via a mechanical coupling, and a control unit configured to adjust a steering wheel angle of the steering wheel to correlate with a steering angle of the steering device via controlling of the actuator, the method comprising:
controlling, in a control step, the actuator of the steering wheel so that the steering wheel angle is correlated with a desired angle and a temporal progression of a state variable of the actuator is determined;
determining, in an analysis step, a frequency spectrum of the temporal progression of the state variable and an amplitude of a predefined spectral component of the frequency spectrum, the predefined spectral component corresponding to a state of the mechanical coupling; and
classifying, in a classification step, a state of the mechanical coupling based on the amplitude of the predefined spectral component.
14 . The method according to claim 13 , wherein the state variable is a torque of the actuator.
15 . The method according to claim 13 , wherein the state variable is an angle of rotation of the actuator.
16 . The method according to claim 13 , wherein the frequency spectrum is determined via a fast Fourier transformation.
17 . The method according to claim 13 , wherein in an adjustment step following the classification step, a control parameter for the controlling of the actuator is adjusted based on the amplitude of the predefined spectral component.
18 . The method according to claim 17 , wherein in a display step following the classification step, a degree of degradation of the mechanical coupling is displayed.
19 . The method according to claim 17 , wherein the controlling of the actuator depends on: i) a difference between the steering wheel angle and the desired angle, and ii) a rate of change over time of the steering wheel angle.
20 . The method according to claim 19 , wherein the control parameter is a first amplification factor configured to amplify the difference between the steering wheel angle and the desired angle, and, in the adjustment step, a second amplification factor for the controlling of the actuator is adjusted based on the rate of change over time of the steering wheel angle.