RWA system control apparatus and method
AssigneeHyundai Mobis Co., Ltd.
InventorsYoung Hwan Do, Jeong Min Lee, Hyung Ju Kwon, Hee Kyu Lim, Hyun Su Kim, Eui Nam Jeong, In Hyuk Kim
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Abstract
Provided is an apparatus for controlling a road wheel actuator (RWA) system, the apparatus including a sensor module configured to detect sensing data of at least one of a steering angle, rack position information, angular velocity of a steering wheel, and column torque, and a processor configured to perform a Proportional Integral Differential (PID) control logic based on the sensing data detected by the sensor module and the RWA position information fed back from the RWA system.
Claims8
An apparatus for controlling a road wheel actuator (RWA) system, the apparatus comprising:
- a sensor configured to detect sensing data of at least one of a steering angle, rack position information, angular velocity of a steering wheel, and column torque;
- and
- a processor configured to perform a Proportional Integral Differential (PID) control logic based on the sensing data detected by the sensor and RWA position information fed back from the RWA system;
- and
- control alignment of the steering wheel of a vehicle and rack position based on the PID control logic,
- wherein the PID control logic comprises a gain D (Dcmd) for a target position command and a gain D (Dfed) for the RWA position information fed back from the RWA system, wherein the Dcmd and the Dfed gains are independently adjustable and are applied within the PID control logic.
A method of controlling a road wheel actuator (RWA) system, the method comprising:
- detecting, by a processor, sensing data from a sensor;
- and
- performing, by the processor, a Proportional Integral Differential (PID) control logic based on the sensing data and RWA position information fed back from the RWA system;
- and
- controlling alignment of a steering wheel of a vehicle and rack position based on the PID control logic,
- wherein the PID control logic comprises a gain D (Dcmd) for a target position command and a gain D (Dfed) for the RWA position information fed back from the RWA system, wherein the Dcmd and the Dfed gains are independently adjustable and are applied within the PID control logic.
Dependencies are inferred from the claim text.