阅读说明：本技术 包括电动助力转向的用于机动车辆的组件 (The component for motor vehicles including electric power steering ) 是由 R·罗莱 于 2018-04-12 设计创作，主要内容包括：本发明涉及一种用于机动车辆的组件(100),该组件包括：-转向单元(10),该转向单元包括齿条(11)；-转向柱(20),该转向柱包括：用于向该齿条施加小齿轮转矩(C<Sub>p</Sub>)的小齿轮(23)、附接到该转向柱的上端(24)以便向该转向柱施加方向盘转矩(C<Sub>v</Sub>)的方向盘(22)、用于测量该转向柱的旋转角度(α<Sub>v</Sub>)的第一测量装置(34)、用于测量该小齿轮转矩的第二测量装置(35)；-电动助力转向(40),该电动助力转向用于将动力转向电流强度(I<Sub>a</Sub>)转换为要施加到该齿条的动力转向转矩(C<Sub>a</Sub>)或动力转向力；-用于调节该小齿轮转矩与该方向盘转矩之间的关系的至少一个设备,该方向盘转矩等于通过至少一个调节项校正的小齿轮转矩,该至少一个调节项至少可根据该转向柱的旋转角度而变化；-控制设备(50),该控制设备用于从至少根据该测得的小齿轮转矩和该调节项计算出的方向盘转矩来确定要递送到该电动助力转向的动力转向电流的强度。(The component (100) that the present invention relates to a kind of for motor vehicles, the component include :-steering unit (10), which includes rack gear (11)；Steering column (20), the steering column include: for applying pinion gear torque (C to the rack gear p ) pinion gear (23), be attached to the upper end (24) of the steering column so as to the steering column apply steering wheel torque (C v ) steering wheel (22), the rotation angle (α for measuring the steering column v ) the first measuring device (34), the second measuring device (35) for measuring the pinion gear torque；Electric power steering (40), the electric power steering are used for electronic-controlled power steering current strength (I a ) be converted to the electronic-controlled power steering torque (C that be applied to the rack gear a ) or electronic-controlled power steering power；For adjusting at least one equipment of the relationship between the pinion gear torque and direction disk torque, direction disk torque is equal to the pinion gear torque corrected by least one adjustment item, which can at least change according to the rotation angle of the steering column；It controls equipment (50), which is used to determine the intensity for the electronic-controlled power steering electric current that be delivered to the electric power steering according at least to this from the pinion gear torque and the calculated steering wheel torque of the adjustment item that measure.)

1. a kind of component (100) for motor vehicles, which arranges in a longitudinal direction (X) and includes:

Steering unit (10), the steering unit include rack gear (11), which arranges and be designed along transverse direction (Y) At the wheel (R) for being linked to the motor vehicles,

Steering column (20), the steering column include:

O pinion gear (23), the pinion gear are designed to apply pinion gear torque (C to the rack gear (11)_p) to drive the tooth Item (11) is translated along transverse direction (Y),

O steering wheel (22), direction disk are designed to apply steering wheel torque (C to the steering column (20)_v),

The first measuring device of o (34), first measuring device are designed to measure the steering column relative to reference angle position Rotation angle (the α set_v), this is corresponding with direction disk or the pinion gear zero rotation angle with reference to angle position, and This with reference to the angular position motor vehicles along straight-line travelling,

The second measuring device of o (35), second measuring device are designed to measure the pinion gear torque (C_p),

Electric power steering (40), the electric power steering include motor (41), which is designed to deliver To the intensity (I of the electric current of the motor (41)_a) be converted to the assist torque (C that be applied to the rack gear (11)_a) or auxiliary force, The current strength is referred to as auxiliary current intensity,

For controlling the equipment (50) of the electronic-controlled power steering, which is designed to according at least to the pinion gear torque measured (C_p) determine the auxiliary current intensity (I of the motor (41) that be delivered to the electric power steering (40)_a),

For adjusting the pinion gear torque (C_p) and direction disk torque (C_v) between relationship at least one equipment, the direction Disk torque (C_v) it is equal to the pinion gear torque corrected by least one adjustment item, which at least can be according to this Rotation angle (the α of steering column_v) and change,

The component is characterized in that:

The steering column (20) includes steering shaft (21), which is divided at least three hinge portions (26,28,30), described Part is coupled by means of simple universal joint (32,33), and upper part (26) arranges along first rotation (27) and should Steering wheel (22) is attached to the upper part, and low portion (28) is arranged along the second rotation axis (29) and the pinion gear (23) it is restricted to together with the low portion rotate around second rotation axis (29), and middle section (30) along third Rotation axis (31) arrangement, which is linked in each of which end by means of simple universal joint (32,33) The upper part (26) and the low portion (28),

And it is characterized by:

The control equipment (50) is designed to:

O is according at least to the pinion gear torque (C measured_p) and the adjustment item calculate steering wheel torque (C_v), the pinion gear torque (C_p) and direction disk torque (C_v) between adjusting by any one of the following terms provide:

The only geometrical arrangements of the steering column (20), or

The geometrical arrangements and means for correcting (36) of the steering column (20), or

The only means for correcting (36), the geometrical arrangements of the steering column (20) itself are not in the pinion gear torque (C_p) and direction disk Torque (C_v) between any adjusting is provided,

O is according to calculated steering wheel torque (C_v) determine the motor (41) that be applied to the electric power steering (40) Auxiliary current intensity (I_a)。

2. component (100) as described in claim 1, in which:

The rotation angle of the steering column is the rotation angle (α of direction disk_v) or the pinion gear rotation angle,

Or

The rotation angle of the steering column is the rotation angle of the pinion gear.

3. the component (100) as described in claim 1 or claim 2, wherein the auxiliary current intensity (I_a) be confirmed as making Obtain direction disk torque (C_v) it is equal to or less than preset limit.

4. the component (100) as described in one of claims 1 to 3, wherein

On the one hand between the upper part (26) and the middle section (30) formed and on the other hand in the middle section (30) angle for being referred to as work angle formed between the low portion (28) is in each other within 3 °,

And/or

These universal joints (32,33) deviate at an angle relative to each other around the third rotation axis (31), so as to in-between The deviation angle for being equal to or less than threshold shift angle is formed, which is equal to optimized migration angle and increases 5 °, should Optimized migration angle is the deviation angle formed in the spaced winding of these universal joints (32,33) the third rotation axis (31), thus It eliminates to the pinion gear torque (C caused by these universal joints (32,33)_p) and direction disk torque (C_v) between relationship It adjusts,

The steering column (20) also has means for correcting (36), which is designed to around the first rotation (27) shaft portion (26) applies correction torque (C upwards₁), the correction torque (C₁) intensity according to the rotation angle of the steering column (α_v) and change,

The control equipment (50) is designed to:

O calculates steering wheel torque (C_v), direction disk torque be defined as so that: C_v(α_v)=C_p+M(α_v), wherein C_pIt is to measure Pinion gear torque, M is the adjustment item, and α_vIt is the rotation angle of the steering column,

M is equal to the correction torque (C₁), which is the rotation angle (α of the steering column_v) predefined function.

5. the component (100) as described in one of claims 1 to 3, in which:

On the one hand between the upper part (26) and the middle section (30) formed and on the other hand in the middle section (30) angle for being referred to as work angle formed between the low portion (28) is not at each other within 3 °,

And/or

These universal joints (32,33) deviate at an angle relative to each other around the third rotation axis (31), so as to in-between The deviation angle for being greater than threshold shift angle is formed, which is equal to optimized migration angle and increases 5 °, this is best inclined Moving angle is the deviation angle formed in the spaced winding of these universal joints (32,33) the third rotation axis (31), thus cancellation pair The pinion gear torque (the C caused by these universal joints (32,33)_p) and direction disk torque (C_v) between relationship adjusting,

The control equipment (50) is designed to:

O calculates steering wheel torque (C_v), so that: C_v(α_v)=C_p×M(α_v), wherein C_pIt is the pinion gear torque measured, M is The adjustment item, and α_vIt is the rotation angle of the steering column,

M is the periodic function of the rotation angle of the steering column, and the period of the periodic function is a half-turn of direction disk (22).

6. component (100) as claimed in claim 5, in which:

Adjustment item M be defined as so thatWherein, A is the first predetermined non-zero Regulating constant, andIt is the second predetermined adjustment constant,

Or

Adjustment item M be defined as so that Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

7. component (100) as claimed in claim 5, in which:

The steering column (20) also has means for correcting (36), which is designed to around the first rotation (27) apply correction torque (C to upper part (26)₁), the correction torque (C₁) intensity according to the rotation angle of the steering column (α_v) and change,

The control equipment (50) is designed to:

O calculates steering wheel torque (C_v), so that: C_v(α_v)=C_p×M₁(α_v)+M₂(α_v), wherein C_pIt is that the pinion gear measured turns Square, M₁It is the first adjustment item, M₂It is the second adjustment item, and α_vIt is the rotation angle of the steering column,

M₁It is the periodic function of the rotation angle of the steering column, the period of the periodic function is a half-turn of direction disk (22), M₂Equal to correction torque (C₁), which is the rotation angle (α of the steering column_v) predefined function.

8. component (100) as claimed in claim 7, in which:

First adjustment item M₁Be defined as so thatWherein, A is first predetermined Non-zero regulating constant, andIt is the second predetermined adjustment constant,

Or

First adjustment item M₁Be defined as so that Its In,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

9. such as claim 4 or claim 7 or component according to any one of claims 8 (100), wherein in order to calculate direction disk Torque (C_v), the correction torque (C₁) it is the periodic function enclosed that the period is direction disk (22), the periodic function is by estimating school Positive torque (C₁') come it is approximate, the estimation correction torque be defined as so that: C₁’(α_v)=K × cos (α_v)×F₁×F₂, wherein K It is predetermined non-zero correction constant, F₁It is the first non-zero attenuation coefficient, and F₂It is the second non-zero attenuation coefficient.

10. component (100) as claimed in claim 9, comprising: third measuring device (60), the third measuring device are designed At the speed (V for measuring the motor vehicles_veh), first attenuation coefficient (F₁) it is defined as speed with the motor vehicles Spend (V_veh) increase and be continuously reduced from 1 to 0.

11. component (100) as claimed in claim 10, wherein first attenuation coefficient (F₁) be defined as so that:Wherein, V_veh/limIt is the preset limit speed of the motor vehicles, and V_vehIt is the speed of the motor vehicles measured.

12. the component (100) as described in one of claim 9 to 11, comprising: the 4th measuring device (70), the 4th measurement dress Set the turning velocity (V for being designed to measure the wheel of the motor vehicles_b), second attenuation coefficient (F₂) be defined as with The turning velocity (V of these wheels_b) increase and continuously enlarge from 0 to 1.

13. component (100) as claimed in claim 12, wherein second attenuation coefficient (F₂) be defined as so that:Wherein, V_b/limIt is the predetermined steering lock speed of these wheels, and V_bIt is to measure The motor vehicles wheel turning velocity.

14. a kind of motor vehicles, including the component (100) as described in one of claim 1 to 13.

15. a kind of for controlling the electric boosted of the component (100) for motor vehicles as described in one of claim 1 to 13 The method (200) of (40) is turned to, method includes the following steps:

A) the rotation angle (α of (201) steering column is measured_v) and the pinion gear torque (C_p),

B) according at least to the pinion gear torque (C measured_p) and the adjustment item calculate (202) direction disk torque (C_v),

C) according to such calculated direction disk torque (C_v) determine that (203) will be delivered to the electric power steering (40) Auxiliary current intensity (the I of motor (41)_a),

D) consider the rotation angle (α of the steering column_v) and the pinion gear torque (C_p), the so determining auxiliary current of delivering (204) Intensity (I_a) to apply assist torque (C to the rack gear (11)_a) or auxiliary force.

16. a kind of computer program including program code instruction, these program code instructions are designed to when the program The step of method according to claim 11 is executed when running on computers (a) to (c).

Technical field

The present invention relates to a kind of, and the component and one kind for motor vehicles including electric power steering include this group The electric vehicle of part.The invention further relates to a kind of methods for controlling the electric power steering of this component.

Background technique

Routinely, motor vehicles have steering unit, which includes rack gear, which links to motor vehicles Wheel and be designed on the direction transverse to the longitudinal direction of the motor vehicles relative to motor vehicles translate Movement is so that wheel steering.Motor vehicles also have steering column, which includes steering shaft, the upper end drive via the steering shaft Move the steering wheel and be restricted to the small tooth rotated together with the lower end of steering shaft that the steering shaft is rotated around first rotation Wheel.When direction, dish driving steering shaft is rotated around first rotation, pinion gear is pivoted around the second rotation axis, and also to tooth Item is applied pinion gear torque and is translated in a lateral direction with drive rack.Motor vehicles can also have electric power steering, should Electric power steering includes motor, the motor receive auxiliary current and according to the intensity of the auxiliary current so delivered to The rack gear of steering unit applies assist torque and is such as used to assist pinion gear.

The known pinion gear torque using measuring determines the intensity of the auxiliary current of electric power steering to be delivered to, and So that it is determined that be applied to the assist torque of rack gear.This makes it possible for following auxiliary regular: when motor vehicles are with low speed row It sails or stops and when wheel steering, in other words, when needing to supply very big total torque so that when wheel steering, such as when holding Row parking control or in street corner turning, it is intended to increase assist torque quickly in the case where pinion gear torque is global constant Add.

However, if steering shaft is divided at least two hinge portions by means of simple universal joint --- along the first rotation Shaft axis simultaneously forms the upper part (also referred to as steering wheel shaft) of upper end and along the second rotation axis and forms the lower part of lower end Partially (also referred to as pinion shaft), there may be problems for this.This steering wheel shaft and this pinion shaft are usually by its end There is the third axis (also referred to as jackshaft) of simple universal joint to link together in portion.

Simple universal joint has the shortcomings that variable speed.Therefore, when two parts being angled with pass through letter When single universal joint couples, the rotation speed of secondary part needs to carry out periodic adjustment relative to drive part.

Therefore, if the angle formed between steering wheel shaft and jackshaft can not be made to be formed with jackshaft and pinion shaft Angle (these angles are known as work angle) it is closely similar, for example, if difference between these work angles is greater than 3 °, small In the case that the gear torque overall situation is constant, these adjustings are passed to steering wheel, and thereby are experienced by driver.If can not Can by the two universal joints around jackshaft axis relative to each other be equal to or less than threshold shift angle deviation angle at Deviate to angle (the threshold shift angle be equal to optimized migration angle increase 5 °, which has eliminated by described ten thousand Adjusted to caused by section), then the same is true.

This for the driver may be especially uncomfortable, because it may feel that a series of hard spot in steering wheel rotation And soft spots, thus the irregular impression of the rotation for leaving wheel to driver.

Summary of the invention

The present invention is directed to overcome disadvantages mentioned above especially by a kind of component for motor vehicles is proposed, in the component In, the electric current for being delivered to electric power steering is determined using the rotation angle of the steering wheel measured and the pinion gear torque measured Intensity.

More particularly it relates to a kind of component for motor vehicles, the component arrange in a longitudinal direction and Include:

Steering unit, the steering unit include rack gear, which arranges along transverse direction and be designed to be linked to The wheel of motor vehicles,

Steering column, the steering column include:

O pinion gear, the pinion gear are designed to apply pinion gear torque to the rack gear with drive rack along cross It is translated to direction,

O steering wheel, direction disk are designed to apply steering wheel torque to steering column,

The first measuring device of o, first measuring device are designed to measurement steering column relative to reference angle position Rotation angle, this is corresponding with reference to angle position and direction disk or pinion gear zero rotation angle, and in the reference angle Spend at position motor vehicles along straight-line travelling,

The second measuring device of o, second measuring device are designed to measurement pinion gear torque,

Electric power steering, the electric power steering include motor, which is designed to that electricity will be delivered to The intensity of the electric current of motivation, referred to as auxiliary current intensity are converted to the assist torque or auxiliary force of rack gear to be applied to,

Equipment for controlling the electronic-controlled power steering, the equipment are designed to according at least to the pinion gear torque measured Determine the auxiliary current intensity for the motor that be delivered to the electric power steering,

For adjusting at least one equipment of the relationship between pinion gear torque and steering wheel torque, steering wheel torque etc. In the pinion gear torque corrected by least one adjustment item, which at least can be according to the rotation angle of steering column It spends and changes.

According to the present invention, true using coming according at least to the pinion gear torque measured and the calculated steering wheel torque of adjustment item Determine auxiliary current intensity.

Different embodiment according to the subject invention, these embodiments can be used alone or in combination:

The rotation angle of steering column is the rotation angle of steering wheel or the rotation angle of pinion gear.

The rotation angle of steering column is the rotation angle of pinion gear,

Auxiliary current intensity is determined so that steering wheel torque is equal to or less than preset limit,

Steering column includes steering shaft, which is divided at least three hinge portions, and the part is by means of simple Universal joint connection, upper part is arranged along first rotation and steering wheel is attached to the upper part, low portion Along the second rotation axis arrangement and the low portion is restricted to rotate around the second rotation axis together with pinion gear, and Middle section arranges that the middle section is linked in each of which end by means of simple universal joint along third rotation axis The upper part and the low portion,

And

On the one hand it is formed between upper part and middle section, on the other hand between middle section and low portion The angle for being referred to as work angle formed is in each other within 3 °,

And/or

These universal joints deviate at an angle relative to each other around third rotation axis, be equal to be formed in-between or Less than the deviation angle of threshold shift angle, which is equal to optimized migration angle and increases 5 °, the optimized migration angle Degree is the deviation angle in the spaced winding third rotation axis formation of these universal joints, to eliminate to the small tooth as caused by universal joint The adjusting of the relationship between torque and direction disk torque is taken turns,

And

Steering column also has means for correcting, which is designed to around the upward shaft portion of first rotation Applying correction torque, the intensity of the correction torque changes according to the rotation angle of steering column,

And

Control equipment is designed to:

O calculates steering wheel torque, so that: C_v(α_v)=C_p+M(α_v), wherein C_pIt is the pinion gear torque measured, M is to adjust , and α_vIt is the rotation angle of steering column,

M is equal to correction torque, which is the predefined function of the rotation angle of steering column,

O determines the auxiliary electricity of the motor of electric power steering to be applied to according to such calculated steering wheel torque Intensity of flow,

Adjustment item M be defined as so thatWherein, A be first make a reservation for it is non- Zero adjustment constant, andIt is the second predetermined adjustment constant,

Adjustment item M be defined as so thatWherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant,

Steering column includes steering shaft, which is divided at least three hinge portions, and the part is by means of simple Universal joint connection, upper part is arranged along first rotation and steering wheel is attached to the upper part, low portion Along the second rotation axis arrangement and the low portion is restricted to rotate around the second rotation axis together with pinion gear, and Middle section arranges that the middle section is linked in each of which end by means of simple universal joint along third rotation axis The upper part and the low portion,

And

On the one hand it is formed between upper part and middle section, and on the other hand in middle section and low portion Between formed be referred to as work angle angle be not within 3 ° each other,

And/or

These universal joints deviate at an angle relative to each other around third rotation axis, to be formed in-between greater than threshold Be worth deviation angle deviation angle, the threshold shift angle be equal to optimized migration angle increase 5 °, the optimized migration angle be The deviation angle that the spaced winding third rotation axis of these universal joints is formed, to eliminate to the pinion gear torque as caused by universal joint The adjusting of relationship between direction disk torque,

And

Control equipment is designed to:

O calculates steering wheel torque, so that: C_v(α_v)=C_p×M(α_v), wherein C_pIt is the pinion gear torque measured, M is to adjust Save item, and α_vIt is the rotation angle of steering column,

M is the periodic function of the rotation angle of steering column, and the period of the periodic function is a half-turn of steering wheel,

O determines the auxiliary electricity of the motor of electric power steering to be applied to according to such calculated steering wheel torque Intensity of flow,

Steering column includes steering shaft, which is divided at least three hinge portions, and the part is by means of simple Universal joint connection, upper part is arranged along first rotation and steering wheel is attached to the upper part, low portion Along the second rotation axis arrangement and the low portion is restricted to rotate around the second rotation axis together with pinion gear, and Middle section arranges that the middle section is linked in each of which end by means of simple universal joint along third rotation axis The upper part and the low portion,

And

On the one hand it is formed between upper part and middle section, and on the other hand in middle section and low portion Between formed be referred to as work angle angle be not within 3 ° each other,

And/or

These universal joints deviate at an angle relative to each other around third rotation axis, to be formed in-between greater than threshold Be worth deviation angle deviation angle, the threshold shift angle be equal to optimized migration angle increase 5 °, the optimized migration angle be The deviation angle that the spaced winding third rotation axis of these universal joints is formed, to eliminate to the pinion gear torque as caused by universal joint The adjusting of relationship between direction disk torque,

And

Steering column also has means for correcting, which is designed to around first rotation to upper part Applying correction torque, the intensity of the correction torque changes according to the rotation angle of steering column,

And

Control equipment is designed to:

O calculates steering wheel torque, so that: C_v(α_v)=C_p×M₁(α_v)+M₂(α_v), wherein C_pIt is that the pinion gear measured turns Square, M₁It is the first adjustment item, M₂It is the second adjustment item, and α_vIt is the rotation angle of steering column,

M₁It is the periodic function of the rotation angle of steering column, the period of the periodic function is a half-turn of steering wheel,

M₂Equal to correction torque, which is the predefined function of the rotation angle of steering column,

O determines the auxiliary electricity of the motor of electric power steering to be applied to according to such calculated steering wheel torque Intensity of flow,

- the first adjustment item M₁Be defined as so thatWherein, A is first Predetermined non-zero regulating constant, andIt is the second predetermined adjustment constant,

- the first adjustment item M₁Be defined as so that Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant,

In order to calculate direction disk torque, the correction torque (C₁) it is the period enclosed that the period is direction disk (22) Function, the periodic function correct torque (C by estimation₁') come it is approximate, the estimation correction torque be defined as so that: C₁’(α_v)=K ×cos(α_v)×F₁×F₂, wherein K is predetermined non-zero correction constant, F₁It is the first non-zero attenuation coefficient, and F₂It is second non- Zero attenuation coefficient,

Component includes third measuring device, which is designed to the speed of measurement motor vehicles, should First attenuation coefficient is defined as with the increase of the speed of the motor vehicles and is continuously reduced from 1 to 0,

- the first attenuation coefficient (F₁) be defined as so that:Wherein, V_veh/limIt is the preset limit speed of the motor vehicles, and V_vehIt is the speed of the motor vehicles measured,

The component includes the 4th measuring device, and the 4th measuring device is designed to the wheel of measurement motor vehicles Turning velocity, the second attenuation coefficient is defined as with the increase of the turning velocity of these wheels and continuously enlarges from 0 to 1,

- the second attenuation coefficient (F₂) be defined as so that:Wherein, V_b/limIt is vehicle The predetermined steering lock speed of wheel, and V_bIt is the turning velocity of the wheel of the motor vehicles measured.

The invention further relates to a kind of motor vehicles including component as described above.

The invention further relates to a kind of for controlling the electric power steering of the component as described above for motor vehicles Method, method includes the following steps:

A) the rotation angle and pinion gear torque of steering column are measured,

B) steering wheel torque is calculated according at least to the pinion gear torque and adjustment item that measure,

C) auxiliary of the motor of electric power steering to be delivered to is determined according to such calculated steering wheel torque Current strength,

D) consider the rotation angle and pinion gear torque of steering column, the so determining auxiliary current intensity of delivering is with to rack gear Apply assist torque or auxiliary force.

The invention further relates to a kind of computer program including program code instruction, these program code instructions are designed to For the step of executing method as described above when program is run on computers (a) to (c).

Detailed description of the invention

With reference to schematic figures, the present invention may be better understood, and below to as pure illustrative and unrestricted More clearly illustrated in the detailed description for at least one embodiment of the present invention that property example provides its additional purpose, details, Feature and advantage, in the accompanying drawings:

- Fig. 1 is the schematic diagram of the component for motor vehicles of first embodiment according to the present invention,

- Fig. 2 is the schematic diagram of the component for motor vehicles of second embodiment according to the present invention,

- Fig. 3 is the schematic diagram of the component for motor vehicles of third embodiment according to the present invention,

- Fig. 4 is the schematic diagram of the example control equipment of the electronic-controlled power steering of component shown in Fig. 2,

- Fig. 5 is the flow chart for the control method of the electric power steering of Fig. 1 to one of component shown in Fig. 3,

- Fig. 6 is to show driver to turn by the steering wheel that the steering wheel of Fig. 1 to one of component shown in Fig. 3 is experienced The curve graph of the example trend of square, the torque of direction disk change according to the rotation angle of the steering wheel,

- Fig. 7 a and Fig. 7 b are the schematic diagrames of the first variant embodiment of the steering column of one of Fig. 2 and component shown in Fig. 3,

- Fig. 8 a and Fig. 8 b are the schematic diagrames of the second variant embodiment of the steering column of one of Fig. 2 and component shown in Fig. 3.

Specific embodiment

Fig. 1 to Fig. 3 respectively illustrate the first, second, and third embodiment according to the present invention for motor vehicles (not Show) component 100.

Provide a kind of orthogonal coordinate system, the orthogonal coordinate system include motor vehicles along main longitudinal direction X, transverse direction side To Y and vertical direction Z.Longitudinal direction X and transverse direction Y are horizontal.

Component 100 includes steering unit 10, steering column 20, electric power steering 40 and the control equipment for electronic-controlled power steering 50。

Steering unit 10 include rack gear 11, the rack gear be disposed in transverse direction Y and be designed to especially by The wheel R of motor vehicles is linked in the connecting rod (not shown) for activating the arm on each knuckle.

Rack gear 11 is designed to be moved in translation in transverse direction Y relative to motor vehicles, to make wheel steering.

Steering column 20 includes steering shaft 21, steering wheel 22 and pinion gear 23.

Steering shaft 21 includes upper end 24 and opposite lower end 25.Therefore, steering shaft 21 has along first rotation 27 Upper part 26 and low portion 28 along the second rotation axis 29.Upper part 26 includes the upper end 24 of steering shaft 21, And low portion 28 includes the lower end 25 of steering shaft 21.

First rotation 27 and the second rotation axis 29 can be for example overlapped.In this case, steering shaft 21 is one Body formula component is integrally formed.

According to another example, steering shaft 21 is divided at least three hinge portions.Then, shaft portion is for example by simple Universal joint is linked together.

Steering shaft 21 can be for example including the middle section 30 along third rotation axis 31, and the middle section 30 is every at it A end by means of simple universal joint 32,33 be linked to first part's (such as upper part 26) and second part (such as Low portion 28).Third rotation axis 30 and first rotation 27 or the second rotation axis 29 are for example both not parallel or do not weigh It closes.

First rotation 27 (Fig. 3) e.g. parallel with the second rotation axis 29.First rotation 27 and second Rotation axis 29 can also be both not parallel or be overlapped (Fig. 1 and Fig. 2).

Steering wheel 22 is attached to the upper end 24 of steering column 20.

More specifically, steering wheel 22 is attached to the upper end 24 of steering shaft 21.

Steering wheel 22 is designed to apply steering wheel torque C to the upper end of steering column 20 24_v。

More specifically, steering wheel 22 is designed to pivot relative to motor vehicles around first rotation 27, and it is used for The upper part 26 of steering shaft 21 is driven to rotate around first rotation 27.Steering wheel 22 is also devised to for around the first rotation Axis 27 applies steering wheel torque C to steering shaft 21_v。

Pinion gear 23 is restricted to rotate together with the lower end 25 of steering column 20.

More specifically, pinion gear 23 is restricted to rotate together with the lower end 25 of steering shaft 21, so that steering shaft 21 drives Pinion gear 23 is rotated around the second rotation axis 29.

Pinion gear 23 is also devised to for applying pinion gear torque C to the rack gear 11_p, with drive rack 11 in transverse direction It is translated on the Y of direction.

Pinion gear 23 for example applies pinion gear torque C to rack gear 11 around the second rotation axis 29_p.Particularly, pinion gear 23 Apply to rack gear and comes from pinion gear torque C_pCross force.

Steering column 20 also has the first measuring device 34, which is designed to measure the steering column phase For the rotation angle of reference angle position, this is opposite with direction disk or pinion gear zero rotation angle with reference to angle position Answer, and this with reference to angular position motor vehicles along straight-line travelling.

The rotation angle of steering column is the rotation angle [alpha] of such as steering wheel_v.First measuring device 34 is for example designed to use In the rotation angle [alpha] of measurement direction coiling first rotation 27_v.It then, is zero rotation of steering wheel with reference to angle position Gyration, this with reference to angular position motor vehicles along straight-line travelling.

In modification, the rotation angle of steering column is the rotation angle of pinion gear.First measuring device 34 is for example designed At for measuring the rotation angle of the pinion gear around the second rotation axis 29.Then, with reference to zero that angle position is pinion gear Rotate angle, this with reference to angular position motor vehicles along straight-line travelling.

Steering column 20 also has the second measuring device 35, which is designed to measurement pinion gear torque C_p.Second measuring device 35 is such as torque sensor, which is mounted on the low portion 28 towards pinion gear 23 At the upper, particularly certain point on steering column between pinion gear 23 and universal joint 33.

Electric power steering 40 includes motor 41, which is designed to that the electric current of motor 41 will be delivered to Intensity I_a, referred to as auxiliary current intensity is converted to the assist torque C to be applied_a。

Motor 41 be for example designed to via pinion gear 43 or any other device around the 4th rotation axis 42 to Rack gear 11 applies assist torque C_a, translated in transverse direction Y with drive rack 11, to assist pinion gear 23.

Component 100 also has for adjusting pinion gear torque C_pWith steering wheel torque C_vBetween at least one of relationship set It is standby, steering wheel torque C_vEqual to the pinion gear torque corrected by least one adjustment item, which at least may be used According to the rotation angle of steering column, particularly the rotation angle [alpha] of at least steering wheel_vOr at least pinion gear rotation angle and Variation.

Adjustment equipment can be for example including upper part 26, middle section 30, low portion 28 and universal joint 32,33.In In this case, the adjustable pinion gear torque C of the geometrical arrangements of these elements_pWith steering wheel torque C_vBetween relationship.

Define on the one hand formed between upper part 26 and middle section 30, on the other hand the middle section 30 with The angle (referred to as work angle) formed between low portion 28.In other words, these work angles are on the one hand in the first rotation It is formed between axis 27 and third rotation axis 31, on the other hand the shape between third rotation axis 31 and the second rotation axis 29 At.These work angles are generated by universal joint 32,33.Such as component 100 is shown in fig. 1 and 2, in these components The geometrical arrangements of steering column 20 adjust pinion gear torque C_pWith steering wheel torque C_vBetween relationship.

Since simple universal joint 32,33 is variable speed, so if the work angle between two adjacent parts is not Be zero, then the rotation speed of the secondary part (such as low portion 28 and/or middle section 30) of steering shaft 21 have relative to The periodic adjustment of the drive part (such as middle section 30 and/or upper part 26) of steering shaft 21.

Therefore, if between upper part 26 and middle section 30 and between middle section 30 and low portion 28 The work angle of formation substantially differs, that is, and it is not within 3 °, and is preferably not within 2 ° each other each other, alternatively, If the difference between these angles is greater than 3 °, and preferably 2 °, then these periodic adjustments will not be compensated, and be rotated Move also variable speed.

Rotation angle of these periodic adjustments according at least to steering column, particularly the rotation angle according at least to steering wheel α_vOr according at least to pinion gear rotation angle and change.These periodic adjustments are described in detail in the following description.

Additionally or as modification, first rotation 27 is seldom coplanar with the second rotation axis 29, and therefore, universal Section 32,33 can also deviate at an angle relative to each other around third rotation axis 31, inclined greater than threshold value to be formed in-between Move the deviation angle of angle.Threshold shift angle is equal to optimized migration angle and increases 5 °, preferably increases 4 °, optimized migration angle Be defined as universal joint 32,33 spaced winding third rotation axis 31 formed deviation angle, thus offset to by universal joint 32, Pinion gear torque C caused by 33_pWith steering wheel torque C_vBetween relationship adjusting.Optimized migration angle is strictly positive.

As described above, when universal joint 32,33 is installed on middle section 30 in-between around third rotation axis 31 When forming the deviation angle for being greater than threshold shift angle, drawn between the part of steering shaft 21 26,30,28 by universal joint 32,33 The periodic adjustment risen is not compensated for, and rotary motion is variable speed.

These periodic adjustments are also according at least to the rotation angle of steering column, particularly according at least to the rotation angle of steering wheel Spend α_vOr according at least to pinion gear rotation angle and change.These are described in detail in the following description periodically to adjust Section.

As the supplement or alternative solution of examples detailed above embodiment, adjustment equipment may include means for correcting 36, the correction Device is designed to apply correction torque C to the upper part 26 of steering shaft 21 around first rotation 27₁, correct torque C₁Intensity according to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr pinion gear rotation angle and change. Therefore, torque C is corrected₁Adjust pinion gear torque C_pWith steering wheel torque C_vBetween relationship.Component including means for correcting 36 100 for example show in figure 2 and figure 3.

Means for correcting 36 can also be designed to when motor vehicles are along straight-line travelling, around first rotation 27 Apply non-zero correction torque C to upper part 26₁.Therefore, torque C is corrected₁Make it possible to correct and be caused by the cross fall of road Motor vehicles and straight line deviation.Therefore, when motor vehicles are along straight-line travelling, torque C is corrected₁It is particularly advantageous, because Driver does not need can be along straight-line travelling to the application torque of steering wheel 22.On the contrary, when driver needs 22 turns of steering wheel When dynamic larger angle, torque C is corrected₁Become pretty troublesome.Such as in low speed, when the very big torque of needs turns to wheel R, spy It is not during parking control or in street corner turning, it is particularly the case.In fact, when steering wheel rotation 22, driver Then alternate hard spot and soft spots are experienced.

Example correction device 36 is explained in the rest part of specification.

Control equipment 50 for electronic-controlled power steering is designed to:

According at least to the pinion gear torque C measured_pSteering wheel torque C is calculated with adjustment item_v,

According to such calculated steering wheel torque C_vTo determine the motor 41 of electric power steering 40 to be delivered to Auxiliary current intensity I_a,

By so determining auxiliary current intensity I_aIt is delivered to the motor 41 of electric power steering 40.

Therefore, the motor 41 of electric power steering apparatus 40 is in addition to the pinion gear torque C that measures_pIn addition, it is also contemplated that turn To the rotation angle of column, particularly the rotation angle [alpha] of steering wheel_vOr the rotation angle of pinion gear, via being applied with the side of calculating To disk torque C_vAdjustment item come to rack gear 11 apply assist torque C_aOr auxiliary force.Therefore, component 100 makes it possible to according to side To disk torque C_vRather than as in the prior art according to pinion gear torque C_pTo control assist torque C_a.In other words, in addition to The pinion gear torque C measured_pExcept, also the assist torque C of rack gear 11 to be supplied to is determined by introducing adjustment item_a, component 100 make it possible to according to steering wheel 22 rather than pinion gear torque C_pTo control the steering wheel torque C that driver experiences_v.Small tooth Take turns torque C_pAdjusting can be by assist torque C_aCompensation.

Auxiliary current intensity I_aSuch as it is determined so that steering wheel torque C_vNo more than given upper limit S.The given limit Torque required for S is typically well below at wheel.Therefore, assist torque C_aOnly the lesser rotation angle of steering column it Afterwards, particularly only in the smaller rotation angle [alpha] of steering wheel_vOr it is generated after the smaller rotation angle of pinion gear.This makes auxiliary Help torque C_aIt can compensate for pinion gear torque C_pAdjusting in its entire amplitude, without to steering wheel torque C_vIt causes any It influences.

Fig. 6 shows the steering wheel torque C so obtained_vWith the rotation angle of steering column, particularly the rotation of steering wheel Gyration α_vThe example trend of variation.The figure shows the steering wheels that with driver turn steering wheel, driver is experienced to turn Square C_vHow to gradually increase.Then, once steering wheel torque C_vReach its upper limit, assist torque C_aIt will intervene, so that when driving When member's steering wheel rotation 22, assist torque C_vKeep equal to upper limit S.In the prior art, on the contrary, follow this trend is Pinion gear torque C_p。

In addition to the pinion gear torque C measured_p, adjustment item, and therefore the rotation angle of steering column, particularly the rotation of steering wheel Gyration α_vOr except the rotation angle of pinion gear, this trend is also obtained as the result for implementing auxiliary regular.Therefore, As auxiliary regular as a result, assist torque C_aNot only by pinion gear torque C_pAlso by steering wheel torque C_vControl, so that can To adjust pinion gear torque C_pTo obtain essentially constant orientation disk torque C when reaching its upper limit S in steering wheel torque_v。

If motor vehicles are at low speed or stop and driver turns to wheel R, in other words, when needing to tooth Item 11 supplies very high total torque, and to make, wheel R is turned to and driver needs steering wheel 22 rotating biggish angular range When (being greater than 180 °), this is particularly advantageous.Such as when in parking lot manipulate motor vehicles or street corner turning when be exactly this Kind situation.In fact, due to steering wheel torque C in these conditions_vIt is substantially constant, so driver will be via direction The rule that disk 22 perceives wheel R turns to." low speed " shall mean that speed between 0km/h to 15km/h, particularly, in 0km/ Between h to 10km/h.

Fig. 4 shows the example control equipment 50 of embodiment according to the present invention.

Control equipment 50 includes: the input interface 51 for being linked to the first measuring device 14 and the second measuring device 15, link To the output interface 52 of electric power steering 40, data storage 53, program storage 54, processor 55 and by the element chain At least one communication bus 56 being connected together.

The rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr rotation angle and the small tooth of pinion gear Take turns torque C_pSuch as it is saved in data storage 53 after being measured by the first measuring device 34 and the second measuring device 35.It is auxiliary Help current strength I_aSuch as it is saved in data storage 53 after being determined by control equipment 50.Steering wheel torque C_vSuch as It is saved in after being calculated by control equipment 50 in the data storage 53 of control equipment 50.Steering wheel torque C_vThe upper limit S is for example stored in advance in data storage 53.

The step of being implemented by control equipment 50 is for example stored in advance in program storage 44, and for example by processor 55 operations.

First embodiment: pinion gear torque C_pWith steering wheel torque C_vBetween adjust only by the geometrical arrangements of steering column 20 Cause, and it is unrelated with means for correcting 36.

First embodiment according to the present invention, between upper part 26 and middle section 30 and in middle section 30 under The work angle formed between portion part 28 is not substantially equal (that is, being not at 3 ° each other, or within preferably 2 °, or phase each other Difference be greater than 3 ° or preferably 2 °) and/or universal joint 32,33 around third rotation axis 31 deviate at an angle relative to each other with Form the deviation angle for being greater than threshold shift angle.

First embodiment is for example shown in FIG. 1.

Control equipment 50 is designed to:

Calculate steering wheel torque (C_v), so that: C_v(α_v)=C_p×M(α_v), wherein C_pIt is the pinion gear torque measured, and And M is adjustment item,

M is the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the period of the rotation angle of pinion gear Function, the period of the periodic function are a half-turns of steering wheel 22.For example, adjustment item M be defined as so that:Wherein, A is the first predetermined non-zero regulating constant, andIt is second predetermined Regulating constant,

According to such calculated steering wheel torque C_vTo determine the motor 41 of electric power steering 40 to be applied to Auxiliary current intensity I_a。

Therefore, auxiliary regular consider by steering shaft 21, particularly the part 26 by being mounted on the steering shaft 21,28, It is adjusted caused by simple universal joint between 30.

First regulating constant A and the second regulating constantSuch as it is especially pre-stored in control equipment in table form In 50 data storage 53.

First regulating constant A and the second regulating constantSuch as it is determined in advance according to the setting of steering column 20.Particularly, It is contemplated that the height setting of column, can change the work angle generated by universal joint 32 and 33.The height of column corresponds to The angle formed between first rotation 27 and horizontal line.If the height of column is the available data points of motor vehicles, this It is especially possible.

Preferably, the first regulating constant A is strictly less than 0.2.This facilitates the approximation for improving adjustment item M.

In modification, adjustment item M be defined as so that: Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

When regulation rate is higher, this approximation of adjustment item M helps to better compensate for the tune as caused by universal joint 32,33 Section.

First regulating constantWith the second regulating constantSuch as can be stored in advance in control equipment 50 data deposit In reservoir 53.

Second embodiment: pinion gear torque C_pWith steering wheel torque C_vBetween adjusting be by the geometrical arrangements of steering column 20 With caused by means for correcting 36.

Second embodiment according to the present invention:

The operation formed between upper part 26 and middle section 30 and between middle section 30 and low portion 28 Angle is not substantially equal (that is, being not at 3 ° each other, or within preferably 2 °, or differing by more than 3 ° or preferably 2 ° each other), and/ Or universal joint 32,33 is deviated at an angle relative to each other around third rotation axis 31 to be formed and be greater than the inclined of threshold shift angle Angle is moved, and

Steering column 20 includes means for correcting 36, which is designed to around first rotation 27 to steering The upper part 26 of axis 21 applies correction torque C₁, correct torque C₁Intensity according to the rotation angle of steering column, particularly direction The rotation angle [alpha] of disk_vOr pinion gear rotation angle and change.Example correction device is explained in the rest part of specification 36。

Second embodiment is for example shown in FIG. 2.

Control equipment 50 is designed to:

Calculate steering wheel torque (C_v), so that: C_v(α_v)=C_p×M₁(α_v)+M₂(α_v), wherein C_pIt is the pinion gear measured Torque, M₁It is the first adjustment item, M₂It is the second adjustment item,

M₁It is the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the period of the rotation angle of pinion gear Function, the period of the periodic function are a half-turn of steering wheel 22, the first adjustment item M₁Such as be defined as so that:Wherein, A is the first predetermined non-zero regulating constant, andIt is second predetermined Regulating constant,

M₂Equal to correction torque C₁, which is the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_v Or the predefined function of the rotation angle of pinion gear,

According to such calculated steering wheel torque C_vTo determine the motor 41 of electric power steering 40 to be applied to Auxiliary current intensity I_a。

Therefore, auxiliary regular consider by steering shaft 21, particularly the part 26 by being mounted on the steering shaft 21,28, It adjusts caused by simple universal joint between 30, and is adjusted as caused by means for correcting 36.

First regulating constant A and the second regulating constantSuch as it is stored in advance in the data storage 53 of control equipment 50 In.

First regulating constant A and the second regulating constantSuch as it is determined in advance according to the setting of steering column 20.Particularly, It is contemplated that the height setting of column, can change the work angle generated by universal joint 32 and 33.The height of column corresponds to The angle formed between first rotation 27 and horizontal line.If the height of column is the available data points of motor vehicles, this It is especially possible.

Preferably, the first regulating constant A is strictly less than 0.2.This helps to improve the first adjustment item M₁Approximation.

In modification, the first adjustment item M₁Be defined as so that: Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

When regulation rate is higher, the first adjustment item M₁This approximation help to better compensate for being drawn by universal joint 32,33 The adjusting risen.

First regulating constantWith the second regulating constantSuch as can be stored in advance in control equipment 50 data deposit In reservoir 53.

In order to calculate direction disk torque C_v, correction torque C₁It is the periodic function for the circle that the period is steering wheel 22.School Positive torque C₁Such as torque C is corrected by estimation₁' next approximate, estimation correction torque is defined as foloows: C₁’(α_v)=K × cos (α_v)×F₁×F₂, wherein K is predetermined non-zero correction constant, F₁It is the first non-zero attenuation coefficient, and F₂It is the second non-zero attenuation Coefficient.In other words, in this case, the second adjustment item M₂Be defined as so that: M₂(α_v)=K × cos (α_v)×F₁×F₂。

For example, correction constant K is for example pre-stored in the data storage 53 of control equipment 50 using table.

In the first example, the first attenuation coefficient F₁With the second attenuation coefficient F₂Equal to 1.

In the second example, component 100 further includes third measuring device 60, which is designed to survey Measure the speed V of motor vehicles_veh.First attenuation coefficient F₁It is defined as the speed V with vehicle_vehIncrease and continuously subtract from 1 It is small to 0.Such a function can be provided with following form:Wherein, V_veh/limIt is the preset limit speed of motor vehicles.

Therefore, with the speed V of motor vehicles_vehIncrease above the limit velocity V of motor vehicles_veh/limWhen, first declines Subtract coefficient F₁Tend to 0.On the contrary, with the speed V of motor vehicles_vehIt is decreased below the limit velocity V of motor vehicles_veh/limWhen, First attenuation coefficient F₁Tend to 1.In other words, only (come that is, providing very big total torque in needs in order to obtain in low speed Make wheel R turn to, and therefore driver need by steering wheel 22 rotate larger angle in the case where) auxiliary regular and consider Correct torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the rotation angle of pinion gear Variation.On the contrary, at high speeds, it is desirable to provide relatively smaller total torque is turn to wheel R, and therefore driver must incite somebody to action Steering wheel 22 rotates smaller angle, to experience correction torque C₁Rotation angle, particularly steering wheel relative to steering column Rotation angle [alpha]_vOr the rotation angle of pinion gear variation a possibility that it is lower.

This has the attendant advantages for reducing energy consumption, because electric power steering 40 is only in low speed (as driver spy Correction torque C may not experienced₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr pinion gear Rotation angle variation when) consider adjustment item.

The speed V of motor vehicles_vehSuch as the number of control equipment 50 is saved in after being measured by third measuring device 60 According in memory 53.

The limit velocity V of motor vehicles_veh/limSuch as between 5km/h and 30km/h.The limit velocity of motor vehicles V_veh/limFor example, 10km/h.

The limit velocity V of motor vehicles_veh/limSuch as it is stored in advance in the data storage 53 of control equipment 50.

Second attenuation coefficient F₂E.g. 1.

In third example, component further includes the 4th measuring device 70, and the 4th measuring device is designed to measure motor-driven The turning velocity V of the wheel of vehicle_b, that is, the angle pivot speed of wheel.Second attenuation coefficient is defined as the turning velocity with wheel V_bIncrease and continuously enlarge from 0 to 1.Such a function can be provided with following form: Wherein, V_b/limIt is the preset limit turning velocity of wheel.

Therefore, with the turning velocity V of wheel_bIncrease above the limit turning velocity V of wheel_b/limWhen, the second decaying Coefficient F₂Tend to 1.On the contrary, with the turning velocity V of wheel_bDrop below the limit turning velocity V of wheel_b/limWhen, second Attenuation coefficient F₂Tend to 0.In other words, only in order to obtain when wheel R is being turned to (that is, school may be experienced as driver Positive torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the change of the rotation angle of pinion gear When change) auxiliary regular and consider correct torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_v Or the variation of the rotation angle of pinion gear.

This has the attendant advantages for reducing energy consumption, because electric power steering 40 is only in high wheel steering speed (when driver may especially experience correction torque C₁Relative to the rotation angle of steering column, particularly the rotation angle of steering wheel Spend α_vOr the rotation angle of pinion gear variation when) consider adjustment item.

The turning velocity V of wheel_bSuch as the number of control equipment 50 is saved in after being measured by the 4th measuring device 70 According in memory 53.

The limit turning velocity V of wheel_b/limSuch as between 20 °/s and 10 °/s.The limit turning velocity V of wheel_b/lim For such as 50 °/s.

The limit turning velocity V of wheel_b/limSuch as it is stored in advance in the data storage 53 of control equipment 50.

First attenuation coefficient F₁E.g. 1.In modification, the first attenuation coefficient F can be defined as in the second example₁。

3rd embodiment: pinion gear torque C_pWith steering wheel torque C_vBetween adjusting only caused by means for correcting 36, turn to Geometrical arrangements of column 20 itself are not in pinion gear torque C_pWith steering wheel torque C_vBetween any adjusting is provided.

Third embodiment according to the present invention:

The operation formed between upper part 26 and middle section 30 and between middle section 30 and low portion 28 Angle be essentially equal (that is, each other within 3 °, or preferably 2 °, or be not much different each other in 3 ° or preferably 2 °), and And universal joint 32,33 is deviated at an angle relative to each other around third rotation axis 31 to be formed and be equal to or less than threshold shift angle The deviation angle of degree,

And

Steering column 20 includes means for correcting 36, which is designed to around first rotation 27 to steering The upper part 26 of axis 21 applies correction torque C₁, correct torque C₁Intensity according to the rotation angle of steering column, particularly direction The rotation angle [alpha] of disk_vOr pinion gear rotation angle and change.Example correction device is explained in the rest part of specification 36。

3rd embodiment is for example shown in FIG. 3.

Control equipment 50 is designed to:

Calculate steering wheel torque C_v, direction disk torque is determined so that: C_v(α_v)=C_p+M(α_v), wherein C_pIt is to survey The pinion gear torque obtained, and M is adjustment item,

M is equal to correction torque C₁, which is the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_v Or the predefined function of the rotation angle of pinion gear,

According to such calculated steering wheel torque C_vTo determine the motor 41 of electric power steering 40 to be applied to Auxiliary current intensity I_a。

Therefore, auxiliary regular considers the adjusting as caused by means for correcting 36.

In order to calculate steering wheel torque C_v, correct torque C₁It is the periodic function for the circle that the period is steering wheel 22.Correction turns Square C₁Torque C can be corrected by estimation₁' come it is approximate, the estimation correction torque be defined as so that: C₁’(α_v)=K × cos (α_v) ×F₁×F₂, wherein K is predetermined non-zero correction constant, F₁It is the first non-zero attenuation coefficient, and F₂It is the second non-zero attenuation system Number, in other words, in this case, adjustment item M be defined as so that: M (α_v)=K × cos (α_v)×F₁×F₂。

For example, correction constant K is for example pre-stored in the data storage 53 of control equipment 50 using table.

In the first example, the first attenuation coefficient F₁With the second attenuation coefficient F₂Equal to 1.

In the second example, component 100 further includes third measuring device 60, which is designed to survey Measure the speed V of motor vehicles_veh.First attenuation coefficient F₁It is defined as the speed V with vehicle_vehIncrease and continuously subtract from 1 It is small to 0.Such a function can be provided with following form:Wherein, V_veh/limIt is the preset limit speed of motor vehicles.

Therefore, with the speed V of motor vehicles_vehIncrease above the limit velocity V of motor vehicles_veh/limWhen, first declines Subtract coefficient F₁Tend to 0.On the contrary, with the speed V of motor vehicles_vehIt is decreased below the limit velocity V of motor vehicles_veh/limWhen, First attenuation coefficient F₁Tend to 1.In other words, only (come that is, providing very big total torque in needs in order to obtain in low speed Make wheel R turn to, and therefore driver need by steering wheel 22 rotate larger angle in the case where) auxiliary regular Shi Caikao Consider correction torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the rotation angle of pinion gear Variation.On the contrary, at high speeds, it is desirable to provide relatively smaller total torque turns to wheel R, and therefore driver is necessary Steering wheel 22 is rotated into smaller angle, and is therefore less likely to feel correction torque C₁Rotation angle relative to steering column The rotation angle [alpha] of degree, particularly steering wheel_vOr the variation of the rotation angle of pinion gear.

This has the attendant advantages for reducing energy consumption, because electric power steering 40 is only in low speed (as driver spy Correction torque C may not experienced₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr pinion gear Rotation angle variation when) consider adjustment item.

The speed V of motor vehicles_vehSuch as the number of control equipment 50 is saved in after being measured by third measuring device 60 According in memory 53.

The limit velocity V of motor vehicles_veh/limSuch as between 5km/h and 30km/h.The limit velocity of motor vehicles V_veh/limFor example, 10km/h.

The limit velocity V of motor vehicles_veh/limSuch as it is stored in advance in the data storage 53 of control equipment 50.

Second attenuation coefficient F₂E.g. 1.

In third example, component further includes the 4th measuring device 70, and the 4th measuring device is designed to measure The turning velocity V of the wheel of motor vehicles_b, that is, the angle pivot speed of wheel.Second attenuation coefficient is defined as with wheel Turning velocity V_bIncrease and continuously enlarge from 0 to 1.Such a function can be provided with following form:Wherein, V_b/limIt is the preset limit turning velocity of wheel.

Therefore, with the turning velocity V of wheel_bIncrease above the limit turning velocity V of wheel_b/limWhen, the second decaying Coefficient F₂Tend to 1.On the contrary, with the turning velocity V of wheel_bDrop below the limit turning velocity V of wheel_b/limWhen, second Attenuation coefficient F₂Tend to 0.In other words, only in order to obtain when wheel R is being turned to (that is, school may be experienced as driver Positive torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the change of the rotation angle of pinion gear When change) auxiliary regular and consider correct torque C₁Relative to the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_v Or the variation of the rotation angle of pinion gear.

This has the attendant advantages for reducing energy consumption, because electric power steering 40 is only in high wheel steering speed (when driver may especially experience correction torque C₁Relative to the rotation angle of steering column, particularly the rotation angle of steering wheel Spend α_vOr the rotation angle of pinion gear variation when) consider adjustment item.

The turning velocity V of wheel_bSuch as the number of control equipment 50 is saved in after being measured by the 4th measuring device 70 According in memory 53.

The limit turning velocity V of wheel_b/limSuch as between 20 °/s and 10 °/s.The limit turning velocity V of wheel_b/lim For such as 50 °/s.

The limit turning velocity V of wheel_b/limSuch as it is stored in advance in the data storage 53 of control equipment 50.

First attenuation coefficient F₁E.g. 1.In modification, the first attenuation coefficient F can be defined as in the second example₁。

Method for controlling electric power steering 40

Fig. 5 shows the method 200 for controlling electric power steering 40.Method 200 is for example implemented by control equipment 50. Method 200 is for example stored in advance in the program storage 54 of control equipment 50, and for example by the processing of control equipment 50 Device 55 is implemented.

Method 200 the following steps are included:

Measure the rotation angle of 201 steering columns, particularly the rotation angle [alpha] of steering wheel_vOr the rotation angle of pinion gear, With pinion gear torque C_p,

According at least to the pinion gear torque C measured_p202 steering wheel torque C are calculated with adjustment item_v,

According to such calculated steering wheel torque C_vTo determine 203 motor that be delivered to electric power steering 40 41 auxiliary current intensity I_a,

Consider the rotation angle of steering column, particularly the rotation angle [alpha] of steering wheel_vOr the rotation angle of pinion gear and small Gear torque C_pTo deliver 204 so determining auxiliary current intensity I_aTo apply assist torque C to rack gear 11_a。

Auxiliary current intensity I_aSuch as it is determined so that steering wheel torque C_vEqual to or less than scheduled upper limit S.

If formed between upper part 26 and middle section 30 and between middle section 30 and low portion 28 Work angle substantially differs and/or universal joint 32,33 is deviated angularly in relation to one another around third rotation axis 31 to be formed and be greater than The deviation angle of threshold shift angle, steering wheel torque C_vSuch as be calculated as so that: C_v(α_v)=C_p×M(α_v), wherein C_pIt is The pinion gear torque measured, and M adjustment item, M are the rotation angle of steering column, particularly the rotation angle of steering wheel or small tooth The periodic function of the rotation angle of wheel, the period of the periodic function are a half-turns of steering wheel 22.Adjustment item M is for example defined At making:Wherein, A is the first predetermined non-zero regulating constant, andIt is Two predetermined adjustment constants.

In modification, adjustment item M be defined as so that: Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

If formed between upper part 26 and middle section 30 and between middle section 30 and low portion 28 Work angle substantially differs and/or universal joint 32,33 is deviated angularly in relation to one another around third rotation axis 31 to be formed and be greater than The deviation angle of threshold shift angle, and steering column 20 further includes means for correcting 36, steering wheel torque C_vSuch as it is calculated as So that: C_v(α_v)=C_p×M₁(α_v)+M₂(α_v), wherein C_pIt is the pinion gear torque measured, M₁It is the first adjustment item, and M₂ It is the second adjustment item.

First adjustment item M₁It is the rotation angle of the rotation angle of steering column, particularly the rotation angle of steering wheel or pinion gear The periodic function of degree, the period of the periodic function are a half-turns of steering wheel 22.First adjustment item M₁Such as it is defined as making :Wherein, A is the first predetermined non-zero regulating constant, andIt is second pre- Determine regulating constant.

In modification, the first adjustment item M₁Be defined as so that: Wherein,It is the first predetermined adjustment constant, andIt is the second predetermined adjustment constant.

Second adjustment item M₂Equal to correction torque C₁, which is the rotation angle, particularly steering wheel of steering column Rotate angle [alpha]_vOr the predefined function of the rotation angle of pinion gear.Correction torque C₁It is the week for the circle that the period is steering wheel 22 Phase function.Correct torque C₁Torque C can be corrected by estimation₁' come it is approximate, the estimation correction torque be defined as so that: C₁’ (α_v)=K × cos (α_v)×F₁×F₂, wherein K is predetermined non-zero correction constant, F₁It is the first non-zero attenuation coefficient, and F₂It is Second non-zero attenuation coefficient.

If formed between upper part 26 and middle section 30 and between middle section 30 and low portion 28 Work angle is essentially equal, and universal joint 32,33 is deviated angularly in relation to one another around third rotation axis 31 to be formed and be equal to Or the deviation angle less than threshold shift angle, and steering column 20 further includes means for correcting 36, steering wheel torque C_vSuch as by Be calculated as so that: C_v(α_v)=C_p+M(α_v), wherein C_pIt is the pinion gear torque measured, and M is adjustment item, M is equal to correction and turns Square C₁, which is the rotation angle [alpha] of steering column, particularly steering wheel_vOr the predefined function of the rotation angle of pinion gear. Correction torque C₁It is the periodic function for the circle that the period is steering wheel 22.Correct torque C₁Torque C can be corrected by estimation₁' come Approximation, the estimation correction torque be defined as so that: C₁’(α_v)=K × cos (α_v)×F₁×F₂, wherein K is predetermined non-zero school Normal number, F₁It is the first non-zero attenuation coefficient, and F₂It is the second non-zero attenuation coefficient.

Example correction device 36

Fig. 7 a and Fig. 7 b show the first example correction device 36, wherein means for correcting 36 is magnetic devices.Fig. 7 a be by It is designed to the layout of the steering column 20 for the motor vehicles kept to the right, and Fig. 7 b is configured to the motor vehicles kept to the left The layout of steering column 20.

Steering column 20 includes the overall tubulose static state cylinder 37 around first rotation 27, wherein steering shaft 21, particularly The upper part 26 of steering shaft 21 is installed into and rotates around the first rotation 27.Therefore, cylinder 37 guides steering shaft 21 It is rotated around first rotation 27.

Means for correcting 36 is for example including the first magnet 121 for being restricted to rotate together with steering shaft 21 and is rigidly attached To the second magnet 122 of cylinder 37.

First magnet 121 has the first outer surface 123, which covers the angle fan around first rotation 27 Area, and be arranged to cylinder 37 diametrically.

The first surface 123 of first magnet 121 has the first magnetic polarity P1.

The first surface 123 of first magnet 121 for example covers between 120 ° to 200 ° of first rotation 27, preferably The angular sector that substantially 180 ° of ground.

The first surface 123 of first magnet 121 is for example concentric with steering shaft 21 and cylinder 37.In other words, the first magnet The shape of 121 first surface 123 is, for example, column part (the preferably circle of rotating part extended around first rotation 27 Column) side surface.

First magnet 121 can also have the second inner surface 124, which is used for the first magnet 121 and turns It is fitted together to axis 21.For this purpose, the shape of second surface 124 for example match with the side surface of steering shaft 21, particularly with Just it is glued to the side surface of steering shaft 21.

The shape of first magnet 121 is preferably tube portion, particularly semicanal, and first surface 123 is the tube portion Outer surface, and second surface 124 is the inner surface of the tube portion.

The second surface 124 of first magnet 121 has the second for example opposite with the first magnetic polarity P1 magnetic polarity P2.

Second magnet 122 has the first inner surface 125, which covers the angle fan around first rotation 27 Area, and be arranged to steering shaft 21 diametrically.

First surface 125 has the second magnetic polarity P2.

The first surface 125 of second magnet 122 for example covers the angle between 90 ° to 180 ° of first rotation 27 Sector.

The first surface 125 of second magnet 122 is for example concentric with steering shaft 21 and cylinder 37.In other words, the second magnet The shape of 122 first surface 125 is, for example, the inner surface of the tube portion extended around axis of a cylinder 12.

Second magnet 122 can also have the second outer surface 126, which is used for the second magnet 122 and column Body 37 fits together.For this purpose, inner surface of the shape of second surface 126 for example with cylinder 37 matches, and it is glued to The inner surface of cylinder 37.

The shape of second magnet 122 is preferably tube portion, and first surface 125 is the inner surface of the tube portion, and Second surface 126 is the outer surface of the tube portion.

The second surface 126 of second magnet 122 is for example with the first magnetic polarity P1.

When motor vehicles are along straight-line travelling, the first of the first surface 123 of the first magnet 121 and the second magnet 122 Surface 125 is also deviated around first rotation 27 at an angle relative to each other." angularly deviate " refers on the one hand the The bisector of the angular sector of one magnet 121 and the on the other hand bisector of the second magnet 122 be collectively formed 50 ° to 130 ° it Between, preferably 90 ° of angle.

Therefore, when motor vehicles are along straight-line travelling, the first surface 123 of the first magnet 121 and the second magnet 122 First surface 125 tends to move towards each other by magnetic attraction, these surfaces have opposite magnetic polarity P1, P2.Therefore, When motor vehicles are along straight-line travelling, the first table of the first magnet 121 is applied to by the first surface 125 of the second magnet 123 Magnetic attraction on face 123 tends to pivot steering shaft 21, to make the first surface 123 and the second magnetic of the first magnet 121 The first surface 125 of body 122 is angularly aligned, so that can apply correction torque C to the steering shaft 21₁。

Means for correcting 36 can also have the third magnet 127 for being rigidly connected to cylinder 37.

Third magnet 127 has the first inner surface 128, which covers the angle fan around first rotation 27 Area, and be arranged to steering shaft 21 diametrically.First surface 128 has the first magnetic polarity P1.

The angular sector of the first surface 128 of third magnet 127 is different from the angle of the first surface 125 of the second magnet 122 Spend sector.In other words, the first surface 125 of the angular sector of the first surface 128 of third magnet 127 and the second magnet 122 Angular sector do not overlap each other.

The first surface 128 of third magnet 127 for example covers the angle between 90 ° to 180 ° of first rotation 27 Sector.

The first surface 128 of third magnet 127 is for example concentric with steering shaft 21 and cylinder 37.In other words, third magnet The shape of 127 first surface 128 is, for example, the inner surface of the tube portion extended around first rotation 27.

Third magnet 127 can also have the second outer surface 129, which is used for third magnet 127 and column Body 37 fits together.For this purpose, the shape of second surface 129 for example matches with the inner surface of cylinder 37, particularly so as to quilt It is glued to the inner surface of cylinder 37.

Therefore, the shape of third magnet 127 can be tube portion, and first surface 128 is the inner surface of the tube portion, and And second surface 129 is the outer surface of the tube portion.

The second surface 129 of third magnet 127 is for example with the second magnetic polarity P2.

Third magnet 127 is for example arranged to be diametrically opposed to one another with the second magnet 122.

When motor vehicles are along straight-line travelling, the first table of the first surface 123 of the first magnet 121, the second magnet 122 The first surface 128 of face 125 and third magnet 127 is also deviated around first rotation 27 at an angle relative to each other." angulation Degree ground offset " refers to the on the one hand bisector of the angular sector of the first magnet 121 and the on the other hand equal part of third magnet 127 Line is collectively formed between 50 ° to 130 °, preferably 90 ° of angle.

Therefore, when vehicle is along straight-line travelling, the first of the first surface 123 of the first magnet 121 and third magnet 127 Surface 128 is tended to away from each other due to magnetic polarity P1 having the same.Therefore, when motor vehicles are along straight-line travelling, The magnetic repulsion being applied on the first surface 123 of the first magnet 121 by the first surface 128 of third magnet 127 tends to make Steering shaft 21 pivot, thus make the first magnet 121 first surface 123 and third magnet 127 first surface 128 away from each other And the first surface 125 of the first surface 123 and the second magnet 122 that make the first magnet 121 on the contrary moves towards each other, because This makes it possible to apply correction torque C to the steering shaft 21₁.Therefore, torque C is corrected₁Intensity than individual first magnet 121 and second magnet 122 intensity it is higher.

In modification, means for correcting can only include the first magnet 121 and third magnet 127.In this modification, reference First magnet 21 of Fig. 7 a and Fig. 7 b description is remained unchanged relative to the arrangement of third magnet 27.

In the case where being designed to the motor vehicles kept to the right, the second magnet 122 and where applicable Third magnet 127 is arranged relative to the first magnet 121, to incline when motor vehicles are along straight-line travelling to the application of steering shaft 21 To in making correction torque C of the wheel of motor vehicles towards left steering₁.In other words, in this case, torque C is corrected₁Edge Counterclockwise orientation (Fig. 7 a).On the contrary, in the case where being designed to the motor vehicles kept to the left, the second magnet 122 with And third magnet 127 is arranged relative to the first magnet 121 where applicable, in motor vehicles along straight-line travelling When apply to steering shaft 21 and tend to the correction torque C that turns to the wheel of motor vehicles to the right₁.In other words, in this feelings Under condition, torque C is corrected₁Orient (Fig. 7 b) along clockwise direction.Therefore, Fig. 7 a is configured to the motor vehicles kept to the right The layout of steering column 20, and Fig. 7 b is configured to the layout of the steering column 20 for the motor vehicles kept to the left.

According to variant embodiment (not shown), means for correcting may also include the 4th magnet, the 4th magnet be restricted to Steering shaft 21 rotates together.

4th magnet has the first outer surface, which covers around the angular sector of first rotation 27, and And it is arranged to cylinder 37 diametrically.The first surface of 4th magnet has the second magnetic polarity P2.

The angular sector of the first surface of 4th magnet is different from the angular sector of the first surface 123 of the first magnet 121. In other words, the angular sector of the first surface 123 of the angular sector of the first surface of the 4th magnet and the first magnet 121 is each other It is not overlapped.

The first surface of 4th magnet for example covers the angular sector between 90 ° to 180 ° of first rotation 27.

The first surface of 4th magnet is for example concentric with steering shaft 21 and cylinder 37.In other words, the first of the 4th magnet The shape on surface is, for example, the side surface of the column part (the preferably cylinder of rotating part) extended around axis of a cylinder 21.

4th magnet also has the second inner surface, which is used to the 4th magnet and steering shaft being assembled in one It rises.For this purpose, the shape of second surface for example matches with the side surface of steering shaft, particularly to be glued to the institute of steering shaft 21 State side surface.

The shape of 4th magnet is tube portion, particularly semicanal, and first surface is the outer surface of the tube portion, and the Two surfaces are the inner surfaces of the tube portion.

The second surface of 4th magnet is for example with the first magnetic polarity P1.

4th magnet is for example arranged to be diametrically opposed to one another with the first magnet 121.

The first surface of 4th magnet also 125 He of first surface around first rotation 27 relative to the second magnet 122 The first surface 128 of third magnet 127 angularly deviates." angularly deviating " refers to the angle of on the one hand the 4th magnet The bisector of sector and the on the other hand bisector of the second magnet 122 or third magnet 127 be collectively formed between 50 ° to 130 °, Preferably 90 ° of angle.

In modification, means for correcting can only include the 4th magnet and the second magnet 122, or only include the 4th magnet and Third magnet 127, or only include the 4th magnet, the second magnet 122 and third magnet 127.In these modifications, the 4th magnet Arrangement relative to the second magnet 122 and/or third magnet 127 remains unchanged.

Therefore, torque C is corrected₁Make it possible to correct the deviation of the motor vehicles as caused by the cross fall of road, the cross It is the Right deviation gradient when keeping to the right to the gradient, is the left-leaning gradient when keeping to the left.

Correction torque C₁It is the periodic function for the circle that the period is steering wheel 22.

Correct torque C₁Torque C for example can be corrected by estimation₁' come it is approximate, the estimation correction torque be defined as so that: C₁’(α_v)=K × cos (α_v), wherein K is predetermined non-zero correction constant.K is when motor vehicles are along straight-line travelling by correcting The torque that device 36 applies.

Means for correcting 36 can be easy to be suitable for left handle drive or right hand drive.In fact, this can be for example by simple Ground change the first magnet 121 relative to the angle position of the second magnet 122 and third magnet 127, particularly by make this first Magnet pivots 180 ° (Fig. 7 a and 7b) around first rotation 27, or by anti-when steering shaft 21 is in reference to angle position Turn the position of the second magnet 122 and third magnet 127 to change correction torque C₁Orientation complete.

Fig. 8 a and Fig. 8 b show the second example correction device 36, wherein means for correcting 36 is mechanical device.Fig. 8 a be by It is designed to the layout of the steering column 20 for the motor vehicles kept to the right, and Fig. 8 b is configured to the motor vehicles kept to the left The layout of steering column 20.

Means for correcting 36 is, for example, cam 131, which is restricted to rotate and formed together with steering shaft 21 around the The cam face 132 of one rotation axis 27.

Means for correcting 36 also has rocking bar 133, and the rocking bar is around the 5th rotary shaft of static state for being parallel to first rotation 27 Line 134 is pivotally mounted on cylinder 37.Rocking bar 133 includes the idler wheel 135 for being designed to roll on cam face 132 And the elastic retraction means 136 for being kept in contact idler wheel 135 and cam face 132 are designed to, thus drive rocker 133 rotate around the 5th rotation axis 134.Elastic retraction means 136 are for example mounted in the compression between cylinder 37 and rocking bar 133 Spring.

Cam 131 and rocking bar 133 are also devised to so that when motor vehicles are along straight-line travelling, the idler wheel of rocking bar 133 135 apply non-zero forces via cam face 132, to generate non-zero correction torque C around first rotation 27₁.Particularly, by The idler wheel 135 of rocking bar 133 is applied to the power of the separate first rotation 27 on cam face 132 around the first rotation 27 generate correction torque C₁。

Cam 131 has elliptic cross-section relative to first rotation 27.The section of cam 131 is relative to the first rotation Axis 27 is eccentric.

In the case where being designed to the motor vehicles kept to the left, cam 131 and rocking bar 133 are designed to make rocking bar 133 idler wheel 135 applies correction torque C via cam face 132₁, the correction torque tend to make the wheel of motor vehicles to Left steering.In other words, in this case, torque C is corrected₁Orient (Fig. 8 a) in the counterclockwise direction.On the contrary, being designed as leaning on In the motor vehicles that left lateral is sailed, the correction torque C that is applied by the idler wheel 135 of rocking bar 133₁Tend to make the wheel of motor vehicles to Right turn.In other words, in this case, torque C is corrected₁Orient (Fig. 8 b) along clockwise direction.Therefore, Fig. 8 a is to be set The layout of the steering column 20 for the motor vehicles kept to the right is counted into, and Fig. 8 b is configured to turning for the motor vehicles kept to the left To the layout of column 20.

Therefore, torque C is corrected₁Make it possible to correct the deviation of the motor vehicles as caused by the cross fall of road, the cross It is the Right deviation gradient when keeping to the right to the gradient, is the left-leaning gradient when keeping to the left.

Correct torque C₁It is the periodic function for the circle that the period is steering wheel 22.

Correction torque C₁Torque C for example can be corrected by estimation₁' next approximate, estimation correction torque is defined as making : C₁’(α_v)=K × cos (α_v), wherein K is predetermined non-zero correction constant.K be when motor vehicles are along straight-line travelling by The torque that means for correcting 36 applies.

Second example correction device 36 can be easy to be suitable for left handle drive or right hand drive.Indeed, it is possible to pass through letter It singly modifies cam face 132 (Fig. 8 a and Fig. 8 b) or changes the rotation side applied by the elastic retraction means 136 on rocking bar 133 Always change correction torque C₁Orientation.