Dual gain algorithm for four wheel steering system
AssigneeDelphi Technologies, Inc.
InventorsReeny Sebastian, Steven Donald Klein, Scott M. Wendling
Life of this patent
Estimating the term…
Abstract
A vehicle steering system coupled to a steerable wheel, comprising a steering rack linked to said steerable wheel, an electric motor having an output shaft engaged with the steering rack for controlling the steerable wheel. The system also includes a position sensor configured to measure an actual steerable wheel angle of the steering rack and thereby the steerable wheel, a return spring, where the return spring is biased so as to provide a returning force to the steering rack. Finally, the system includes a controller that provides a command to the electric motor resulting in a torque, the command is responsive to the actual steerable wheel angle, a desired steerable wheel angle, and a command direction.
Claims60
A method for controlling an angle of a steerable wheel in a vehicle with electric power assisted steering with an electric motor and a return spring, comprising:
- determining a desired steerable wheel angle;
- obtaining an actual steerable wheel angle of said vehicle;
- and
- determining a direction for said electric motor;
- generating command, responsive to said desired steerable wheel angle, said actual steerable wheel angle, and said direction;
- said command resulting in a torque generated by said electric motor operably connected to said steerable wheel for controlling said actual steerable wheel angle.
A vehicle steering system coupled to a steerable wheel, comprising:
- a steering rack linked to said steerable wheel;
- an electric motor having an output shaft engaged with said steering rack for controlling said steerable wheel;
- a position sensor configured to measure an actual steerable wheel angle of said steering rack and thereby said steerable wheel, transmitting said actual steerable wheel angle to a controller;
- a return spring, said return spring biased so as to provide a returning force to said steering rack;
- and
- said controller providing a command to said electric motor resulting in a torque generated by said electric motor, said command responsive to said actual steerable wheel angle, a desired steerable wheel angle, and a direction of travel of said steerable wheel.
A storage medium encoded with a machine-readable computer program code for controlling an angle of a steerable wheel in a vehicle with electric power assisted steering with an electric motor and a return spring, said storage medium including instructions for causing controller to implement a method comprising:
- determining a desired steerable wheel angle;
- obtaining an actual steerable wheel angle of said vehicle;
- and
- determining a direction for said electric motor;
- generating command, responsive to said desired steerable wheel angle, said actual steerable wheel angle, and said direction;
- said command resulting in a torque generated by said electric motor operably connected to said steerable wheel for controlling said actual steerable wheel angle.
A computer data signal embodied in a carrier wave for controlling an angle of a steerable wheel in a vehicle with electric power assisted steering with an electric motor and a return spring, said data signal comprising code configured to cause a controller to implement a method comprising:
- determining a desired steerable wheel angle;
- obtaining an actual steerable wheel angle of said vehicle;
- and
- determining a direction for said electric motor;
- generating command, responsive to said desired steerable wheel angle, said actual steerable wheel angle, and said direction;
- said command resulting in a torque generated by said electric motor operably connected to said steerable wheel for controlling said actual steerable wheel angle.
Dependencies are inferred from the claim text.