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KR20170069715A - MDPS reverse input torque compensation system - Google Patents

MDPS reverse input torque compensation system Download PDF

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Publication number
KR20170069715A
KR20170069715A KR1020150177282A KR20150177282A KR20170069715A KR 20170069715 A KR20170069715 A KR 20170069715A KR 1020150177282 A KR1020150177282 A KR 1020150177282A KR 20150177282 A KR20150177282 A KR 20150177282A KR 20170069715 A KR20170069715 A KR 20170069715A
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South Korea
Prior art keywords
steering
value
reverse input
input torque
torque
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KR102200094B1 (en
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김재형
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현대자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 차량의 좌우 휠 속도 차이값을 기설정된 차속 임계값과 비교하는 제1단계와 상기 좌우 휠 속도 차이값이 상기 차속 임계값 보다 크면, 차량의 스티어링 토크값을 기설정된 조향 토크 임계값과 비교하는 제2단계 및 상기 스티어링 토크값이 상기 조향 토크 임계값 보다 크면, 역입력 토크가 발생된 것으로 판단하여 토크 센서에서 센싱된 역입력 토크값을 추출하고, 조향모터에 상기 역입력 토크값을 보상하여 조향이 이루어지도록 하는 제3단계를 포함한다.The present invention is characterized by comprising a first step of comparing a left wheel speed difference value of a vehicle with a predetermined vehicle speed threshold value and a second step of comparing a steering torque value of the vehicle with a predetermined steering torque threshold value if the left wheel speed difference value is larger than the vehicle speed threshold value And if the steering torque value is greater than the steering torque threshold value, it is determined that a reverse input torque has been generated and the reverse input torque value sensed by the torque sensor is extracted, and the reverse input torque value So that the steering is compensated for.

Description

MDPS 역입력 토크 보상 시스템{MDPS reverse input torque compensation system}MDPS Reverse Input Torque Compensation System [0002]

본 발명은 MDPS 역입력 토크 보상 시스템에 관한 것으로서, 더욱 상세하게는 주행 안정성을 확보할 수 있는 MDPS 역입력 토크 보상 시스템에 관한 것이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an MDPS reverse input torque compensation system, and more particularly, to an MDPS reverse input torque compensation system capable of ensuring driving stability.

일반적으로, 차량에는 운전자의 조타조작을 어시스트할 수 있는 전동식 조향장치가 적용되고 있고, 특히 최근에는 모터를 이용하여 운전자의 조타력을 어시스트하는 MDPS(Motor Driven Power Steering System)가 많이 적용되고 있다.2. Description of the Related Art [0002] Generally, an electric steering system capable of assisting a steering operation of a driver is applied to a vehicle. Recently, a motor driven power steering system (MDPS) has been widely used to assist a driver with a steering force.

이러한 MDPS는 조향휠에 연결된 컬럼에 설치된 토션바에 토크센서를 설치하고, 모터를 이용하여 운전자의 조타력에 비례하는 어시스트 토크를 발생시켜 운전자의 조타력을 어시스트하게 된다.In this MDPS, a torque sensor is installed on a torsion bar installed on a column connected to a steering wheel, and an assist torque proportional to the driving force of the driver is generated by using a motor, thereby assisting the driving force of the driver.

또한, MDPS는 운전자가 조향휠을 조작함에 따라 발생시키는 운전자 입력토크를 계산한 후, 운전자 입력토크에 비례하는 어시스트 토크를 발생시키며, 여기서 상기 운전자 입력토크는 상기 MDPS에 설치되는 토션바의 비틀림각과 토션바의 비틀림 상수의 곱으로 나타낼 수 있고(운전자 입력토크 = 토션바 비틀림각 * 토션바 비틀림 상수), 모터에 의해 발생되는 어시스트 토크, 즉 MDPS에서 출력되어야 하는 토크는 MDPS로 입력되는 입력토크에 비례하여 모터에서 발생된다.In addition, the MDPS calculates an operator input torque generated as the driver operates the steering wheel, and then generates an assist torque proportional to the driver input torque, wherein the driver input torque is determined by the twist angle of the torsion bar installed on the MDPS (Driver input torque = torsion bar torsion angle * torsion bar torsion constant) and the assist torque generated by the motor, that is, the torque to be output from the MDPS, can be represented by the product of the torsional constant of the torsion bar It is generated in proportion to the motor.

그러나, 상기와 같은 종래기술에 따르면, 조타시 MDPS로 입력되는 토크가 MDPS가 인식하는 운전자 입력토크보다 커서 운전자가 조타시 이질감을 느끼게 되며, 또한 운전자가 조향휠을 조작하면, 운전자가 입력한 토크뿐만 아니라, 회전하는 조향휠의 회전관성에 의해 발생되는 토크도 작용하는데, 이를 고려하지 않으므로, MDPS의 제어에 있어서 부정확하게 제어되었다.However, according to the related art as described above, since the torque inputted to the MDPS during steering is larger than the driver input torque recognized by the MDPS, the driver feels a sense of unevenness in steering, and when the driver operates the steering wheel, In addition, the torque generated by the rotational inertia of the rotating steering wheel also acts, but it is not considered and is incorrectly controlled in the control of the MDPS.

예를 들어, 종래의 MDPS는 좌우도로 미끄럼 조건이 상이하거나, 물웅덩이 또는 눈길 등에서 갑자기 핸들이 돌아가는 경우, 차량이 미끄러지는 현상을 방지하기 위하여 ESC(Electronic Stability Control) 시스템을 사용하고 있으나, 기울어짐의 정도가 일정값 이상 되어야 작동하기 때문에, 차량의 미끄러짐이 일어난 이후에 미끄러짐을 제어할 수는 있으나, 미끄러짐이 시작하는 단계에서 미끄러짐 현상을 방지하는데는 어려움이 있다.
For example, in the conventional MDPS, an ESC (Electronic Stability Control) system is used to prevent the vehicle from slipping when the left and right road slip conditions are different, or when the steering wheel suddenly turns around in a puddle or snowy road, The slip can be controlled after the slip of the vehicle. However, it is difficult to prevent the slip at the beginning of the slip.

대한민국공개특허공보 제10-2015-0065421호(2015.06.15.)Korean Patent Publication No. 10-2015-0065421 (June 15, 2015).

본 발명의 목적은, 기설정된 스티어링 조향 조건에 따라, 스티어링 조향이 이루어지기 이전에 역입력 토크가 검출되는 경우 MDPS 모터에 역입력 토크를 보상하여 스티어링 조향이 이루어지도록 함으로써, 미끄러짐 시작단계에서 차량의 미끄러짐 현상을 방지할 수 있는 MDPS 역입력 토크 보상 시스템을 제공함에 있다.
SUMMARY OF THE INVENTION It is an object of the present invention to provide a steering control system for an internal combustion engine that compensates a reverse input torque to an MDPS motor when a reverse input torque is detected before a steering steering is performed according to a predetermined steering steering condition, And to provide an MDPS reverse input torque compensation system capable of preventing a slipping phenomenon.

본 발명에 따른 MDPS 역입력 토크 보상 시스템은 차량의 좌우 휠 속도 차이값을 기설정된 차속 임계값과 비교하는 제1단계와 상기 좌우 휠 속도 차이값이 상기 차속 임계값 보다 크면, 차량의 스티어링 토크값을 기설정된 조향 토크 임계값과 비교하는 제2단계 및 상기 스티어링 토크값이 상기 조향 토크 임계값 보다 크면, 역입력 토크가 발생된 것으로 판단하여 토크 센서에서 센싱된 역입력 토크값을 추출하고, 조향모터에 상기 역입력 토크값을 보상하여 조향이 이루어지도록 하는 제3단계를 포함하는 것을 특징으로 한다.The MDPS reverse input torque compensation system according to the present invention includes a first step of comparing a left wheel speed difference value of a vehicle with a predetermined vehicle speed threshold value and a second step of comparing the steering torque value of the vehicle A second step of comparing a steering torque threshold value with a predetermined steering torque threshold value, and if the steering torque value is greater than the steering torque threshold value, determining that a reverse input torque has been generated, extracting a reverse input torque value sensed by the torque sensor, And a third step of compensating the reverse input torque value to the motor so that the steering is performed.

여기서, 상기 제2단계는 상기 스티어링 토크값이 상기 조향 토크 임계값 보다 크면, 조향각 센서에서 측정된 스티어링 앵글값을 기설정된 조향각 임계값과 비교한다.The second step compares the steering angle value measured by the steering angle sensor with a predetermined steering angle threshold value if the steering torque value is greater than the steering torque threshold value.

이때, 상기 제2단계는 상기 스티어링 앵글값이 상기 조향각 임계값 보다 작으면, 운전자가 조향 방향과 반대되는 방향으로 조향하고자 하는 것으로 판단하여 상기 역입력 토크값을 추출한다.In this case, if the steering angle value is smaller than the steering angle threshold value, the second step determines that the driver intends to steer in a direction opposite to the steering direction, and extracts the reverse input torque value.

한편, 상기 제3단계는 상기 조향 모터에서 피드백 되는 모터전류와 상기 조향 모터로 인가되는 기본전류에 상기 역입력 토크값을 보상하여 상기 조향 모터의 조향이 이루어지도록 한다.
Meanwhile, in the third step, the reverse input torque value is compensated for the motor current fed back from the steering motor and the basic current applied to the steering motor, thereby steering the steering motor.

본 발명은, 본 발명의 목적은, 기설정된 스티어링 조향 조건에 따라, 스티어링 조향이 이루어지기 이전에 역입력 토크가 검출되는 경우 MDPS 모터에 역입력 토크를 보상하여 스티어링 조향이 이루어지도록 함으로써, 미끄러짐 시작단계에서 차량의 미끄러짐 현상을 방지할 수 있는 효과를 갖는다.SUMMARY OF THE INVENTION It is an object of the present invention to provide a steering control apparatus and a steering angle control method in which when a reverse input torque is detected before steering steering is performed according to a predetermined steering steering condition, It is possible to prevent the vehicle from slipping.

그에 따라, 본 발명은 차량의 주행 안전성을 확보할 수 있는 효과를 갖는다.
Accordingly, the present invention has the effect of securing the running safety of the vehicle.

도 1 은 본 발명의 실시예에 따른 MDPS 역입력 토크 보상 시스템을 개략적으로 보여주는 순서도이다.
도 2 는 본 발명의 실시예에 따른 MDPS 역입력 토크 보상 시스템에서 역입력 토크값 보상을 보여주는 개념도이다.1 is a flowchart schematically showing an MDPS reverse input torque compensation system according to an embodiment of the present invention.
2 is a conceptual diagram illustrating reverse input torque value compensation in an MDPS reverse input torque compensation system according to an embodiment of the present invention.

이하, 첨부된 도면을 참조하면서 본 발명에 따른 바람직한 실시 예를 상세히 설명하기로 한다.
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명의 이점 및 특징, 그리고 그것을 달성하는 방법은 첨부된 도면과 함께 상세하게 후술 되어 있는 실시 예들을 참조하면 명확해질 것이다.BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving it will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

그러나, 본 발명은 이하에 개시되는 실시 예들에 의해 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시 예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 범주에 의해 정의될 뿐이다.It should be understood, however, that the present invention is not limited to the embodiments disclosed herein but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

또한, 본 발명을 설명함에 있어 관련된 공지 기술 등이 본 발명의 요지를 흐리게 할 수 있다고 판단되는 경우 그에 관한 자세한 설명은 생략하기로 한다.
In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

도 1 은 본 발명의 실시예에 따른 MDPS 역입력 토크 보상 시스템을 개략적으로 보여주는 순서도이고, 도 2 는 본 발명의 실시예에 따른 MDPS 역입력 토크 보상 시스템에서 역입력 토크값 보상을 보여주는 개념도이다.FIG. 1 is a flowchart schematically illustrating an MDPS reverse input torque compensation system according to an embodiment of the present invention. FIG. 2 is a conceptual diagram illustrating reverse input torque value compensation in an MDPS reverse input torque compensation system according to an embodiment of the present invention.

도 1에 도시된 바와 같이, MDPS 역입력 토크 보상 시스템을 순차적으로 설명하면 다음과 같다.As shown in FIG. 1, the MDPS reverse input torque compensation system will be described below in order.

먼저, 좌우 도로의 미끄럼 조건이 상이하거나, 또는 물웅덩이나 눈길 등에서 갑자기 핸들이 돌아가며 미끄러지는 경우, ESC(Electronic Stability Control) 시스템이 작동하여 이를 보상하도록 하고 있으나, 차량의 기울어짐 정도가 일정값 이상 되어야 ECS 시스템이 작동하기 때문에, 미끄러짐이 시작하는 초기단계에서는 차량의 미끄러짐을 보상할 수 없다.First, when the sliding conditions of the left and right roads are different, or when the steering wheel suddenly slides while being rotated in a water sump or snowy road, the electronic stability control (ESC) system operates to compensate for the slip. However, Since the ECS system operates, the slip of the vehicle can not be compensated at the initial stage of the slip.

이를 위해, 먼저 차량의 차속 센서로부터 차량의 좌우 휠 속도 차이값을 측정하고, 이러한 좌우 휠 속도 차이값을 기설정된 차속 임계값과 비교한다(S100).To this end, first, the left wheel speed difference value of the vehicle is measured from the vehicle speed sensor of the vehicle, and the left wheel speed difference value is compared with the predetermined vehicle speed threshold value (S100).

다시 말해, 좌우 도로의 미끄럼 조건이 상이하거나, 또는 물웅덩이나 눈길 등에서 갑자기 핸들이 돌아가며 미끄러지는 경우에는 차량의 좌측 휠의 속도와 우측 휠의 속도의 차이가 발생하게 되는데, 이때 이러한 차속과 기설정된 차속 임계값을 비교하여 차량의 현재 상태를 파악할 수 있다.In other words, when the sliding conditions of the left and right roads are different, or when the steering wheel suddenly slips while being plowed or snowy, suddenly the difference between the speed of the left wheel of the vehicle and the speed of the right wheel occurs. The current state of the vehicle can be grasped by comparing the threshold values.

이후, 차량의 좌우 휠 속도 차이값이 차속 임계값 보다 크면, 차량의 스티어링 토크값을 조향 토크 임계값과 비교한다(S200).Thereafter, if the difference between the left and right wheel speeds of the vehicle is greater than the vehicle speed threshold value, the steering torque value of the vehicle is compared with the steering torque threshold value (S200).

여기서, 만일 좌우 도로의 미끄럼 조건이 상이하거나, 또는 물웅덩이나 눈길 등에서 좌측방향으로 차량이 조향되는 경우, 운전자의 의도와는 상관없이 차량이 갑작스럽게 좌측으로 조향된 것이기 때문에, 차량의 스티어링 토크값이 조향 토크 임계값 보다 커지게 되고, 그에 따라 역입력 토크가 발생된 것을 판단할 수 있다.Here, if the vehicle is steered to the left in the case of a water puddle, an eye, or the like, the vehicle suddenly steers to the left regardless of the intention of the driver, so that the steering torque value of the vehicle It is possible to judge that the reverse input torque has been generated.

또한, 상기와 같이 스티어링 토크값이 조향 토크 임계값 보다 크면, 조향각 센서에서 측정된 스티어링 앵글값을 기설정된 조향각 임계값과 비교한다(S300).If the steering torque value is greater than the steering torque threshold value, the steering angle value measured by the steering angle sensor is compared with a predetermined steering angle threshold value (S300).

이때, 스티어링 앵글값이 조향각 임계값 보다 작으면, 운전자가 조향 방향과 반대되는 방향으로 조향하고자 하는 것으로 판단하여 토크 센서로부터 역입력 토크값을 추출한다(S400).At this time, if the steering angle value is smaller than the steering angle threshold value, it is determined that the driver intends to steer in the direction opposite to the steering direction, and the reverse input torque value is extracted from the torque sensor (S400).

즉, 좌우 도로의 미끄럼 조건이 상이하거나, 또는 물웅덩이나 눈길 등에서 좌측방향으로 차량이 조향되는 경우, 운전자의 조향 방향 또한 좌측방향인 것으로 판단되면 운전자가 인지하여 조향하는 정상적인 상황으로 판단하여 역입력 토크 추출 단계(S400)로 이어지지 않는다.That is, when the slip condition of the left and right roads is different, or when the vehicle is steered in the left direction in a water puddle, snowy road, or the like, it is determined that the driver's steering direction is also the leftward direction, And does not lead to the extraction step (S400).

하지만, 만일 운전자가 오른쪽 방향으로 조향하게 되면, 운전자의 의도와는 반대되는 방향으로 갑작스럽게 차량이 조향된 것으로 판단하게 되며, 이러한 경우에서 스티어링 앵글값이 기설정된 조향각 임계값 보다 작으면, 이를 보상하기 위하여 역입력 토크값이 추출되도록 한다.However, if the driver steers to the right direction, it is determined that the vehicle is suddenly steered in a direction opposite to the driver's intention. In this case, if the steering angle value is smaller than the predetermined steering angle threshold value, So that the reverse input torque value is extracted.

한편, 상기와 같이 스티어링 토크값이 조향 토크 임계값 보다 크고, 스티어링 앵글값이 조향각 임계값 보다 작으면, 토크 센서에서 센싱된 역입력 토크값을 추출하고(S400), 조향모터에 역입력 토크값을 보상하여 조향이 이루어지도록 한다(S500).If the steering torque value is larger than the steering torque threshold value and the steering angle value is smaller than the steering angle threshold value as described above, the reverse input torque value sensed by the torque sensor is extracted (S400), and the reverse input torque value So that the steering is performed (S500).

더 자세히 설명하면, 도 2에 도시된 바와 같이 차량의 토크센서, 조향각 센서, 차속센서에서 입력받은 입력신호를 ECU(Electronic Control Unit)에서 조향모터 구동을 위한 기본전류로 사용하게 되는데, 종래에는 차량의 좌우 휠 속도 차이에 의한 슬립 발생 시 상기와 같은 기본전류에 조향모터에서 피드백 되는 모터전류를 더하여 조향모터를 제어하는 전류로 사용하였다.More specifically, as shown in FIG. 2, an input signal received from a torque sensor, a steering angle sensor, and a vehicle speed sensor of a vehicle is used as a basic current for driving a steering motor in an ECU (Electronic Control Unit) The slip caused by the difference between the left and right wheel speeds is used as the current for controlling the steering motor by adding the motor current fed back from the steering motor to the basic current as described above.

하지만, 이러한 경우 갑작스러운 핸들 틀어짐을 방지할 수 없기 때문에, 본 실시예에서는 좌우 휠 속도 차이에 의한 미끄러짐을 제1단계(S100) 내지 제2단계(S200)를 통해 미끄러짐이 일어나기 시작하는 초기에 판단하고, 그에 따른 역입력 토크값을 추출(S400)하여 역입력되는 토크를 보상(S500)함으로써, 갑작스러운 핸들 틀어짐을 방지할 수 있다.However, in this case, sudden steering wheel misalignment can not be prevented. Therefore, in this embodiment, the slip due to the difference between the left and right wheel speeds is judged at the beginning of slip through the first step S100 to the second step S200 The reverse input torque value corresponding thereto is extracted (S400), and the reverse input torque is compensated (S500), so that the sudden turning off of the steering wheel can be prevented.

이를 위해, 본 실시예에서는 전술된 바와 같이 기본전류와 피드백 되는 모터전류가 더해진 전류에 역입력 토크값이 가감되도록 하여 목표전류를 산출하고, 이러한 목표전류를 통해 차량에 작용하는 역입력 토크를 보상함으로써, 갑작스러운 핸들 틀어짐과 같은 상황 발생 시에도 차량의 주행 안정성을 확보할 수 있다.
To this end, in the present embodiment, the target current is calculated by adding or subtracting the reverse input torque value to the current to which the basic current and the feedback motor current are added as described above, and the reverse input torque acting on the vehicle through the target current is compensated The driving stability of the vehicle can be secured even in the event of a sudden turn of the steering wheel.

본 발명은, 본 발명의 목적은, 기설정된 스티어링 조향 조건에 따라, 스티어링 조향이 이루어지기 이전에 역입력 토크가 검출되는 경우 MDPS 모터에 역입력 토크를 보상하여 스티어링 조향이 이루어지도록 함으로써, 미끄러짐 시작단계에서 차량의 미끄러짐 현상을 방지할 수 있는 효과를 갖는다.SUMMARY OF THE INVENTION It is an object of the present invention to provide a steering control apparatus and a steering angle control method in which when a reverse input torque is detected before steering steering is performed according to a predetermined steering steering condition, It is possible to prevent the vehicle from slipping.

그에 따라, 본 발명은 차량의 주행 안전성을 확보할 수 있는 효과를 갖는다.
Accordingly, the present invention has the effect of securing the running safety of the vehicle.

이상의 본 발명은 도면에 도시된 실시 예(들)를 참고로 설명되었으나 이는 예시적인 것에 불과하며, 본 기술 분야의 통상의 지식을 가진 자라면 이로부터 다양한 변형이 이루어질 수 있으며, 상기 설명된 실시예(들)의 전부 또는 일부가 선택적으로 조합되어 구성될 수도 있다는 점을 이해할 것이다. 따라서, 본 발명의 진정한 기술적 보호 범위는 첨부된 청구범위의 기술적 사상에 의해 정해여야 할 것이다.While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. It will be understood that all or some of the elements (s) may be optionally constructed in combination. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (4)

차량의 좌우 휠 속도 차이값을 기설정된 차속 임계값과 비교하는 제1단계;
상기 좌우 휠 속도 차이값이 상기 차속 임계값 보다 크면, 차량의 스티어링 토크값을 기설정된 조향 토크 임계값과 비교하는 제2단계; 및
상기 스티어링 토크값이 상기 조향 토크 임계값 보다 크면, 역입력 토크가 발생된 것으로 판단하여 토크 센서에서 센싱된 역입력 토크값을 추출하고, 조향모터에 상기 역입력 토크값을 보상하여 조향이 이루어지도록 하는 제3단계;를 포함하는 것을 특징으로 하는 MDPS 역입력 토크 보상 시스템.
A first step of comparing a left wheel speed difference value of the vehicle with a predetermined vehicle speed threshold value;
A second step of comparing the steering torque value of the vehicle with a predetermined steering torque threshold value if the difference between the left and right wheel speeds is greater than the vehicle speed threshold value; And
If the steering torque value is larger than the steering torque threshold value, it is determined that the reverse input torque is generated, and the reverse input torque value sensed by the torque sensor is extracted. The reverse input torque value is compensated to the steering motor And a third step of compensating for an MDPS reverse input torque.
청구항 1에 있어서,
상기 제2단계는,
상기 스티어링 토크값이 상기 조향 토크 임계값 보다 크면, 조향각 센서에서 측정된 스티어링 앵글값을 기설정된 조향각 임계값과 비교하는 것을 특징으로 하는 MDPS 역입력 토크 보상 시스템.
The method according to claim 1,
The second step comprises:
If the steering torque value is greater than the steering torque threshold value, comparing the steering angle value measured by the steering angle sensor with a predetermined steering angle threshold value.
청구항 2에 있어서,
상기 제2단계는,
상기 스티어링 앵글값이 상기 조향각 임계값 보다 작으면, 운전자가 조향 방향과 반대되는 방향으로 조향하고자 하는 것으로 판단하여 상기 역입력 토크값을 추출하는 것을 특징으로 하는 MDPS 역입력 토크 보상 시스템.
The method of claim 2,
The second step comprises:
If the steering angle value is smaller than the steering angle threshold value, it is determined that the driver intends to steer in a direction opposite to the steering direction, and the reverse input torque value is extracted.
청구항 1에 있어서,
상기 제3단계는,
상기 조향 모터에서 피드백 되는 모터전류와 상기 조향 모터로 인가되는 기본전류에 상기 역입력 토크값을 보상하여 상기 조향 모터의 조향이 이루어지도록 하는 것을 특징으로 하는 MDPS 역입력 토크 보상 시스템.The method according to claim 1,
In the third step,
Wherein the controller corrects the reverse input torque value to the motor current fed back from the steering motor and the basic current applied to the steering motor to steer the steering motor.
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