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US 6,687,588 B2Granted
Compensation using position for improved feel and stability in a steering system
AssigneeDelphi Technologies, Inc.
InventorsJon D. Demerly, Farhad Bolourchi, Scott A. Millsap
Life of this patent
Estimating the term…
Abstract
Disclosed herein is steer-by-wire control systems comprising: a road wheel unit responsive to a road wheel command signal including a road wheel position sensor and a road wheel force sensor. The steer-by-wire control system also includes a steering wheel unit responsive to a steering wheel torque command signal, including a steering wheel position sensor and a torque sensor. The steer-by-wire control system further includes a vehicle speed sensor, and a master control unit operatively connected to the vehicle speed sensor, the steering wheel unit, and the road wheel unit. The steering wheel unit is also responsive to the steering wheel position signal.
Claims103
A steer-by-wire control system comprising:
- a road wheel unit responsive to a road wheel command signal for steering a vehicle, said road wheel unit includes a road wheel position sensor to produce and transmit a road wheel position signal and a road wheel force sensor to produce and transmit a road wheel force signal;
- a steering wheel unit responsive to a steering wheel torque command signal, said steering wheel unit includes a steering wheel position sensor to produce and transmit a steering wheel position signal and a torque sensor to produce and transmit a feedback torque sensor signal;
- a vehicle speed sensor to produce and transmit a vehicle speed signal;
- a master control unit operatively connected to said vehicle speed sensor, said steering wheel unit, and said road wheel unit;
- and
- wherein said steering wheel unit is also responsive to said steering wheel position signal.
3 more elements
A steer-by-wire control system comprising:
- a road wheel unit responsive to a road wheel command signal for steering a vehicle, said road wheel unit includes a road wheel position sensor to produce and transmit a road wheel position signal and a road wheel force sensor to produce and transmit a road wheel force signal;
- a steering wheel unit responsive to a steering wheel torque command signal, said steering wheel unit includes a steering wheel position sensor to produce and transmit a steering wheel position signal and a torque sensor to produce and transmit a feedback torque sensor signal;
- a vehicle speed sensor to produce and transmit a vehicle speed signal;
- a master control unit operatively connected to said vehicle speed sensor, said steering wheel unit, and said road wheel unit;
- wherein said steering wheel unit is also responsive to said steering wheel position;
- and
- wherein said master control unit calculates said road wheel command signal in response to said vehicle speed signal, said feedback torque sensor signal and said steering wheel position signal;
- and said master control unit calculates said steering wheel torque command signal responsive to a composite road wheel force signal, said feedback torque sensor signal, said steering wheel position signal and said vehicle speed signal.
5 more elements
A method for steering a vehicle with a steer-by-wire system comprising:
- receiving a road wheel force signal;
- receiving a road wheel position signal;
- receiving a vehicle speed signal;
- receiving a steering wheel position signal;
- receiving a feedback torque sensor signal;
- generating a steering wheel torque command signal responsive to said road wheel force signal, said vehicle speed signal, and said feedback torque sensor signal;
- generating a road wheel command signal responsive to said road wheel position signal, said vehicle speed signal, said feedback torque sensor signal, and said steering wheel position signal;
- and
- generating a position compensated torque command signal in a steering wheel unit responsive to said steering wheel position signal.
6 more elements
A torque control system responsive to position comprising:
- a torque control unit responsive to a torque command signal for controlling torque, said torque control unit includes a position sensor to produce and transmit a position signal and a torque sensor to produce and transmit a torque sensor signal;
- wherein said torque control unit comprises a closed loop control system responsive to said torque command signal and said torque sensor signal as feedback;
- wherein said torque control unit includes feedforward control based on said position signal;
- wherein at least one of said position sensor, and said torque sensor, is selected and configured to ensure that at least one of said torque control unit, and said torque control system, exhibits selected performance characteristics;
- and
- wherein said selected performance characteristics include at least one of increased bandwidth, increased disturbance rejection, improved input impedance response, increased resolution and increased tracking accuracy over a torque control system not employing a torque control unit responsive to said position sensor.
3 more elements
A method for controlling torque with a torque control system responsive to position, the method comprising:
- receiving a position signal from a position sensor;
- receiving a torque sensor signal;
- receiving a master torque command signal;
- generating a position command torque signal in a torque control unit responsive to said master torque command signal, said torque sensor signal, and said position signal;
- wherein said position compensated torque command signal, said position signal, and said torque sensor signal are employed in a torque control unit forming a control system;
- wherein at least one of said position signal and said torque sensor signal are responsive to a position sensor and a torque sensor respectively, selected and configured to ensure that at least one of a torque control unit and said torque control system, exhibits selected performance characteristics;
- and
- wherein said selected performance characteristics include at least one of increased bandwidth, increased disturbance rejection, improved input impedance response, increased resolution and increased tricking accuracy over a torque control system not employing a torque control unit responsive to said position sensor.
5 more elements
A storage medium:
- encoded with a machine readable computer program code;
- said code including instructions for causing a computer to implement a method for steering a vehicle with a steer-by-wire system, the method comprising:
- receiving a road wheel force signal;
- receiving a road wheel position signal;
- receiving a vehicle speed signal;
- receiving a steering wheel position signal;
- receiving a feedback torque sensor signal;
- generating a steering wheel torque command signal responsive to said road wheel force signal, said vehicle speed signal, and said feedback torque sensor signal;
- generating a road wheel command signal responsive to said road wheel position signal, said vehicle speed signal, said feedback torque sensor signal, and said steering wheel position signal;
- and
- generating a position compensated torque command signal in a steering wheel unit responsive to said steering wheel position signal.
8 more elements
A computer data signal, said computer data signal comprising:
- instructions for causing a computer to implement a method for steering a vehicle with a steer-by-wire system, the method comprising:
- receiving a road wheel force signal;
- receiving a road wheel position signal;
- receiving a vehicle speed signal;
- receiving a steeling wheel position signal;
- receiving a feedback torque sensor signal;
- generating a steering wheel torque command signal responsive to said road wheel force signal, said vehicle speed signal, and said feedback torque sensor signal;
- generating a road wheel command signal responsive to said road wheel position signal, said vehicle speed signal, said feedback torque sensor signal, and said steering wheel position signal;
- and
- generating a position compensated torque command signal in a steering wheel unit responsive to said steering wheel position signal.
7 more elements
A storage medium:
- encoded with a machine readable computer program code;
- said code including instructions for causing a computer to implement a method for controlling torque with a torque control system responsive to position, the method comprising:
- receiving a position signal from a position sensor;
- receiving a torque sensor signal;
- receiving a master torque command signal;
- generating a position compensated torque command signal in a torque control unit responsive to said master torque command signal, said torque sensor signal, and said position signal;
- wherein said position compensated torque command signal, said position signal, and said torque signal are employed in a torque control unit forming a control system;
- wherein at least one of said position signal and said torque sensor signal are responsive to a position sensor and a torque sensor respectively, selected and configured to ensure that at least one of a torque control unit and said torque control system, exhibits selected performance characteristics;
- and
- wherein said selected performance characteristics include at least one of increased bandwidth, increased disturbance rejection, improved input impedance response, increased resolution and increased tracking accuracy over a torque control system not employing a torque control unit responsive to said position sensor.
7 more elements
A computer data signal, said computer data signal comprising:
- instructions for causing a computer to implement a method for controlling torque with a torque control system responsive to position, the method comprising:
- receiving a position signal from a position sensor;
- receiving a torque sensor signal;
- receiving a master torque command signal;
- generating a position compensated torque command signal in a torque control unit responsive to said master torque command signal, said torque sensor signal, and said position signal;
- wherein said position compensated torque command signal, said position signal, and said torque signal are employed in a torque control unit forming a control system;
- wherein at least one of said position signal and said torque sensor signal are responsive to a position sensor and a torque sensor respectively, selected and configured to insure that at least one of a torque control unit and said torque control system, exhibits selected performance characteristics;
- and
- wherein said selected characteristics include at least one of increased bandwidth, increased disturbance rejection, improved input impedance response, increased resolution and increased tracking accuracy over a torque control system not employing a torque control unit responsive to said position sensor.
6 more elements
Dependencies are inferred from the claim text.