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    • 专利摘要:
    The present invention relates to a method of evaluating friction in a power steering mechanism (1), said method comprising a step (a) of acquiring a series of characterization points, during which a measurement is made for several different values taken successively by the assistance effort during the operation of the steering mechanism, the corresponding friction values, in order to obtain empirically a series of distinct characterization points (P1, P2,... P1) which associate each at a measured value representative of the assistance effort (Caction_i, Caction_2, ... Caction_n) a measured value of friction (Fmes_1, Fmes_2, ... Fmes_n), then a step (b) of construction of a model of empirical friction, during which we establish a correlation law (L) between the characterization points (P1, P2, ... Pn) constituting the series of characterization points, from the point cloud form by said plurality of said characterization points.
    公开号:FR3018917A1
    申请号:FR1452216
    申请日:2014-03-18
    公开日:2015-09-25
    发明作者:Sebastien Bourdrez；Pascal Moulaire；Christophe Ravier
    申请人:JTEKT Europe SAS；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The present invention relates to the general field of power steering management methods used on vehicles, especially motor vehicles. It relates more particularly to the consideration of the friction forces in a power steering mechanism.
    [0002] The presence, in a steering mechanism, of mechanical friction between the constituent members of said steering mechanism, can affect the relative movements of said members, disrupt the regulation of the steering assistance, and cause parasitic phenomena at the steering wheel. . It may therefore be useful to detect and quantify these internal friction, specific to the steering mechanism, for example to compensate for said friction in order to improve driving comfort and / or to provide the driver with a faithful and intuitive feeling reactions from management. However, it is particularly difficult to determine the friction precisely, especially since said friction changes over time, in particular as a function of the aging or the degree of wear of the steering members, or again depending on the environmental conditions of use of the vehicle (it will be understood, for example, that the friction tends to increase in cold weather, due in particular to the increase in lubricant viscosity). The objects assigned to the invention therefore aim at overcoming the aforementioned drawbacks and at proposing a new friction evaluation method which makes it possible to determine precisely, simply, with great reliability, and at any time, the friction affecting assisted steering, for a wide range of life situations of the steering mechanism. The objects assigned to the invention are achieved by means of a method of evaluating friction in a power steering mechanism equipped with an assist motor for providing an assisting force to maneuver said steering mechanism, said method being characterized in that it comprises a step (a) of acquiring a series of characterization points, during which one measures, for several different values successively taken by the assistance effort during the operation of the steering mechanism, the corresponding friction values, in order to obtain empirically a series of distinct characterization points which each associate to a measured value representative of the assistance effort a measured value of friction, then a step ( b) construction of an empirical friction model, during which a correlation law is established between the constitutive characterization points s of the series of points of characterization, from the cloud of points formed by said series of said points of characterization. Advantageously, by constructing a friction model from a plurality (of a cloud) of distinct experimental characterization points, recorded in several different values of the assistance effort, the invention makes it possible to carry out a complete mapping and faithful to the phenomenon of friction, which reliably covers a wide range of assistance efforts, and therefore, more generally, a wide range of life situations of the steering mechanism (life situations which are characterized here by assistance effort applied at the moment considered).
    [0003] The invention advantageously makes it possible to simultaneously take into consideration, in order to establish the friction model applicable at a given instant, a set of several characterization points which have each been obtained by the measurement, and which are therefore all effectively representative of the actual behavior of the friction in the direction over a period of time considered, immediately preceding the moment at which it is desired to estimate the friction. The multiplicity of the characterization points used, and more particularly, the spreading (distribution) of these characterization points over a wide range of assistance effort values, guarantees the representativeness and validity of the model, at least on said wide range of distribution, or even beyond (by extrapolation), that is to say guarantees the reliability and accuracy of said model for a wide range of situations of life of the steering mechanism. This multiplicity of the characterization points also makes it possible to define the correlation law from redundant data, which renders said definition of the correlation law, and therefore the definition of the resulting model, insensitive to noise and errors. which may affect the determination of one or the other point of characterization. The definition of the model according to the invention is therefore particularly robust. Moreover, the experimental (empirical) nature of the construction of the model according to the invention, which minimizes the risk of errors (of difference) between the actual friction and the friction estimated from said model, advantageously guarantees that said model is very representative (very close) of the actual behavior of the steering mechanism. Furthermore, in addition to the acquisition of the series of characterization points, the invention makes possible the periodic renewal of said series of characterization points, which makes it possible to have at any time a refreshed cloud of characterization points. experimental, so that the invention makes it possible to guarantee durably the representativity of the friction model over time. In other words, the invention advantageously makes it possible automatically and intrinsically to incorporate into the model construction, over time, the effects of aging or wear of the steering mechanism, as well as the fluctuations of the external conditions ( for example temperature) affecting the operation of said mechanism, which allows to substantially adapt in real time said model, so that said model permanently reflects the actual behavior of the steering mechanism.
    [0004] From the empirical model thus constructed, and preferably updated regularly, it is possible to realistically estimate, at any moment, the friction from a known (measured) actuation force value. For all the aforementioned reasons, the invention advantageously increases the reliability of the estimation of the internal friction of the direction, eliminating, in particular, by an experimental construction of the model which is spread out both in space (on a beach). of assistance effort values) and over time (over a period of time which is necessary for the acquisition of all the points of the series of characterization points, and which, thanks to the refreshment, can remain quasi-contemporary the time at which the model is used to estimate friction), the approximation errors that would inevitably be tainted by a purely theoretical friction model, the calibration of which would be entirely based on a single instantaneous measurement point. Other objects, features and advantages of the invention will appear in more detail on reading the description which follows, and with the aid of the accompanying drawings, provided for purely illustrative and non-limiting purposes, among which: FIG. 1 illustrates, in a diagram which expresses the friction (in ordinates) as a function of a variable (in abscissa) representative of the assistance effort, and more particularly as a function of the total actuation effort corresponding to the accumulation of the assistance effort delivered by the engine and the manual effort exerted by the driver on the steering wheel, an example of a cloud of characterization points obtained according to the invention, and a corresponding correlation law, established according to the invention. FIG. 2 represents, on a temporal diagram, the joint evolution of a signal representative of the assistance effort and of a signal representative of the angular position of the steering wheel, in order to illustrate the principle of falling the representative value of the assistance effort observed during steering inversions. Figure 3 is an enlarged detail view of a portion of Figure 2. Figure 4 shows schematically the implementation of a method 10 according to the invention. The invention relates to a method of evaluating friction in a power steering mechanism 1. Said power steering mechanism 1 is equipped with an assistance motor 2 intended to provide an assistance effort Ca ', st to maneuver said 15 steering mechanism. We can indifferently consider any type of assistance engine 2, and more particularly any type of assistance engine with two directions of operation. In particular, the invention can equally well be applied to a rotary assist motor 2 intended to exert a torque-type assisting force Ca ', st, or to a linear assistance motor 2, intended to exert an assistance effort Ca ', st of traction or compression type. Furthermore, said assistance motor 2 can be for example hydraulic, or preferably, electrical (the use of an electric motor 25 facilitating in particular the implementation and implementation of said motor, as well as the generation and the management of useful signals). In a particularly preferred manner, the assistance motor 2 will be a rotary electric motor, for example of the "brushless" type. Furthermore, the power steering mechanism 1 preferably comprises, in a manner known per se, a steering wheel 3 through which the driver of the vehicle can rotate a steering column 4 which meshes with a pinion 5 , on a steering rack 6 slidably mounted in a steering casing secured to the chassis of the vehicle. The ends of the steering rack 6 are preferably each connected, by means of a steering rod 7, 8, to a steerable rocket carrier on which is mounted a steering wheel (and preferably a driving wheel). 9, 10 of the vehicle, such that the displacement of the rack 6 in translation in the housing causes a modification of the steering angle (ie of the yaw orientation) of said steering wheels 9, 10. The engine of assistance 2 can be engaged on the steering column 4, for example by means of a gearbox with a tangential wheel and worm, or else come into engagement directly on the steering rack 6, by a gear mechanism. drive type ball screw or via a pinion 11 distinct from the pinion 5 of the steering column (to then form a steering mechanism said "double pinion", as shown schematically in Figure 4).
    [0005] The force reference (or, more preferably, the torque setpoint) Cmot which is applied to the assistance motor 2 so that said engine assists the driver in the maneuver of the steering mechanism 1 depends on predetermined assistance laws, stored in a non-volatile memory of a computer (here an assistance law application module 12), said assistance laws being able to adjust said Cmot effort setpoint as a function of various parameters such as the Cvolant flying torque exerted by the driver on the driving wheel 3, the speed (longitudinal) of the vehicle, the angular position of the steering wheel 3 of the steering wheel 3, etc. According to the invention, the method comprises a step (a) of acquisition of a series of characterization points P1, P2, --- Pn, during which a measurement is made for several different values taken successively by the Cass assistance effort, st during the operation of the steering mechanism, the corresponding friction values, in order to obtain empirically a series of distinct characterization points --- P which each associated with a measured value Caction_l, Caction_2, - - 25 Caction_n representative of the effort of assistance a measured value of friction Fmes_1, Fmes_2, --- Fmes_n ^ as that is illustrated in Figure 1. In other words, one acquires a series of n points characterization, such that, for i integer ranging from 1 to n: Pi = (Frnes_actionaction), the index i = 1 to n indicates here, by simple convention, the chronological order of acquisition of said characterization points. Advantageously, the invention makes it possible to acquire, by measurement, a plurality of characterization points P1, P2,... Pn which are distributed over a whole range of force values. This range (not limited to a single value) covers several values representative of the assistance effort, and thus covers, more generally, different possible states of the steering mechanism 1, and in particular different stress states of the steering mechanism 1 related to the (voluntary) maneuver of said steering mechanism, states which are associated respectively different levels of internal friction. The invention thus provides a wide range of definition of the friction model, within which (and where appropriate in the vicinity of) the definition of the model will be particularly reliable, because framed by measured experimental values, representative of the actual behavior of the mechanism of management. In absolute terms, it will be possible to choose as the first definition variable the characterization points (that is to say, in FIG. 1, as the abscissa variable), said to be "representative of the assistance effort Cass, st ", any parameter that reflects a state of the steering mechanism that can be correlated, deterministically, to the intensity of internal friction. The objective pursued is, in fine, to be able to build a model 15 capable of evaluating the friction (output data of the model) reliably, from the sole knowledge of the value taken, at the instant considered. , by this first variable (input data applied to the model). In practice, the assistance effort Cass, st delivered by the assistance motor 2 is generally (very) higher than the effort exerted manually by the driver on the steering wheel 3. To ensure that the first variable used is actually representative of the state of constraint of the steering mechanism 1, it will therefore preferably be ensured that said first variable takes into consideration (at least) the (majority) contribution of said assistance effort Cass, st in the definition the stress state of the steering mechanism. Preferably, the representative measured value of the assistance force is chosen from: the value of the motor torque setpoint Cmot which is applied to the assistance motor 2, the measured value of the assistance (electromagnetic) torque Cassist effectively exerted by the output shaft 13 of the assistance motor 2, or, which corresponds to the preferred variant illustrated in FIG. 4, the measured value of the actuation torque Total action which corresponds to the accumulation (algebraic sum) of a part of the assistance torque Cass, st delivered by the assistance motor 2 and secondly of the steering wheel torque which is exerted by the driver on the steering wheel 3. 35 These values have in fact the double advantage on the one hand to contain information representative of the state of constraint of the steering mechanism 1, state of stress which is related to the maneuver (or the voluntary holding in position) of said steering mechanism, to the extent where said values take into account in particular the contribution of the assistance effort Ca ', st provided by the assistance engine, and secondly to be available in the form of easily exploitable signals. Thus, the motor torque setpoint value Cmot may be obtained at the output of the assistance law application module 12. The assistance electromagnetic torque Ca ', st may be provided by a suitable torque sensor, preferably integrated to the help engine controller.
    [0006] The flying torque Cvolant can be obtained by a suitable steering wheel torque sensor 14, such as a magnetic torque sensor measuring the elastic deformation of a torsion bar placed between the steering wheel 3 and the steering column 4. In practice it will be noted that, in the life situations envisaged for the vehicle, the value of the command value Cmot applied to the assistance engine 2, and the value of the assistance effort Ca ', st which is actually supplied by said engine 2, are extremely close, or even equal, so that these two signals can be used in an equivalent manner within the scope of the invention (including, in particular, to define the total actuation torque Caction).
    [0007] Therefore, preferably, and for convenience of description, we can assimilate in the following the effort signal (torque) assistance Ca ', st issued by the engine assistance to the instruction d' force (torque setpoint) Cmot applied to the assistance engine 2. Moreover, the inventors have found that the intensity of the friction was particularly related to, and more particularly determinable as a function of, the intensity of the effort of actuation Total action that is exerted on the steering mechanism 1 to manipulate said mechanism (and thus to direct the vehicle), actuation force Caction which corresponds here to the accumulation (to the algebraic sum) of the assistance effort (and more particularly of the assistance torque) Ca ', st delivered by the assistance motor 2 and the force (and more particularly the torque) steering wheel which is exerted by the driver on the driving wheel 3. More particularly, the inventors found that the intensity of internal friction represented an increasing function of said Canon actuation force, an increasing function whose slope was related to mechanical efficiencies.
    [0008] The choice of the Caction actuation force as the first characteristic variable of the characterization points, and more generally as the input variable of the model, that is to say as a variable representative of the state of the steering mechanism, is so everything indicated. Moreover, in order to obtain a modeling of the friction phenomenon that affects the steering mechanism, and therefore an evaluation of the friction phenomenon which is as accurate and complete as possible, it is preferable to use, as a representative value of the state of the steering mechanism, and therefore as a representative measured value of the Cactior-u assistance effort, Caction_2, Caction_n, a force signal which includes effects of friction on a driveline which is the longest and as complete as possible, within the steering mechanism 1, in order to take into consideration the greatest possible number of sections of the direction in which friction can originate, and thus to neglect the least sources of internal friction possible. In other words, it is preferable to collect the useful effort signal (s) in zones as far upstream as possible from each kinematic chain comprised between an actuating element upstream of the direction on the one hand (namely respectively the driver and the assistance motor 2), and the downstream effectors (links 7, 8 and steering wheels 9, 10) on the other hand, so that these signals include the maximum of friction that oppose the maneuver of the direction, and in this case include all the friction that originates in the entire kinematic chain located downstream of the actuator elements concerned. In addition, it is also preferable to consider a force signal which takes into account not only the contribution of the assistance motor 2, but also the manual contribution of the driver, so that said effort signal is representative of the state (and therefore the level of friction) of the entire steering mechanism 1, both in the "motorized" portion of said mechanism (assistance engine 2, gear, rack 6 ...) that in (all or part of) the "manual" portion, also called "conductive" portion of said mechanism (steering wheel 3, steering column 4, pinion connection 5 / rack 6 ...) For these reasons, the signal of The force used (as the "first variable" in the sense described above) will preferably and judiciously be the Caction actuation force signal formed, as illustrated in FIG. 4, by the sum of a part of the flying torque signal representative of the vola couple a driver exerted on the steering wheel by the driver, and on the other hand the engine torque command signal Cmot (considered to be equal to the assistance effort Ca ',, t, as indicated above). It will be noted in this respect that, in this case, by measuring the Cyolant flying torque by means of the torque sensor 14 mentioned above, it will advantageously be taken into consideration, with regard to the "manual" portion of the steering mechanism 1 , all the friction appearing downstream of said sensor 14 (and more particularly downstream of its torsion bar), and in particular the friction which arises in the connection between the pinion 5 fixed to the lower section of the steering column and the rack 6.
    [0009] Furthermore, it will be noted that, taking into account, where appropriate, the drive ratio between the assistance motor 2 and the steering rack 6, it is possible to express the force signals, and in particular the force signal, actuating Cact, on or the engine torque command signal Cmot, both in the form of a torque (motor) and in the form of an equivalent linear force (of rack 6), without modifying the general principle of the invention . Thus, by way of example, the Caction actuation force signal is homogeneous with a torque (expressed in Nm) in FIG. 2, and can be converted, for convenience and by simple representation convention, in the form of an equivalent linear force, expressed in Newtons (FIG. 1), and / or, for example, in kiloNewtons (FIG. 3). More generally, the invention can indifferently use signals and measurements representative of linear forces (acting in translation) or representative of couples (acting in rotation). As illustrated in FIG. 1, the series of characterization points P1, P2, Pn can advantageously be classified, and / or more particularly represented graphically, in the form of a scatter plot. For this purpose, it suffices to place said characterization points P - 1, - P 2, - Pn in a two - dimensional graph, with the friction F as the ordinate, and on the abscissa the first variable, representative of the state. In particular, in the present case, the abscissa corresponds to the actuating force Canon, which is itself a dependent quantity and representative of the assistance effort Ca '. , t, Cmot. Following step (a) of acquiring a series of characterization points, the method comprises a step (b) of constructing an empirical friction model, during which a correlation law L is established. between the characterization points P1, P2,... Pn constituting the series of characterization points, from the point cloud formed by said series of said characterization points. Advantageously, since we consider the series of characterization points P1. P2. Pn as a whole, as a cloud of experimental measuring points, to derive a correlation law L, said correlation law L is based simultaneously, at the instant it is established, on several points of characterization, c ' that is to say on a plurality of empirical values, which faithfully reflect the actual behavior of the steering mechanism. In addition, the acquisition of the characterization points P1, P2,... Pn has spread over time, during the period preceding the instant when the correlation law L is defined from said points of reference. characterization, so that, by construction, said correlation law L perfectly takes into account the (recent) history of the steering mechanism to determine a trend of friction evolution as a function of the first variable (here, depending on the Canon actuation force).
    [0010] The invention thus makes it possible to obtain a correlation law, and therefore a friction model, which is particularly reliable and close to reality. Once the correlation law L has been established, it is possible to use the said law as a predictive, generalized and valid model beyond the only characterization points P1. P2. Pn, to evaluate, at a given instant t, the friction E, Fevai which affects the maneuver of the steering mechanism 1, from the only knowledge, just necessary and sufficient, of any value of the first variable (here, from the knowledge of any value of the actuation force Caction, measured from the motor torque setpoint Cmot and the steering wheel torque Cvolant).
    [0011] Preferably, the correlation law L is established as an interpolation curve or a regression curve with respect to the series of characterization points P1. P2, P. Said interpolation curve may be linear, polynomial, or of any other suitable nature.
    [0012] Preferably, and as illustrated in FIG. 1, the correlation law L is obtained by linear regression on the series of characterization points P1. P2. Pn, preferably by the least squares method. This solution provides a simple, fast, and resource-efficient, a model of friction perfectly valid, amply satisfactory for the intended application.
    [0013] In particular, the use of a model of the affine function type (right) makes it possible to associate with any Caction actuation effort, by means of a simple but nevertheless relatively precise formula, and in this case according to a function increasing affine, a corresponding (estimated) value of friction Feval.
    [0014] In a particularly preferred manner, step (a) of acquisition and step (b) of model construction are refreshed iteratively during the operation of the steering mechanism, so that the correlation law L is redefined at as new P1 characterization points are acquired. P2, Pn, Pn + 1 ...
    [0015] Advantageously, providing on the one hand an acquisition of points of characterization which is progressive, that is to say which spreads in several successive instants, and which is preferably permanent, that is to say that said acquisition repeats and / or is completed during the entire duration of operation of the steering mechanism 1, since the (most recent) start of the vehicle, and by adjusting the correlation law L according to the new characterization points, In addition to or replacing the characterization points previously acquired, the invention intrinsically takes into account, in real time, changes in the life situation of the steering mechanism. In other words, by constantly updating the correlation law L, substantially in real time (as soon as the acquisition of one or more new characterization points allows it), from a sample constantly refreshed characterization points P1, P2, Pn, the method according to the invention allows a permanent and complete re-calibration of the empirical model which remains therefore at all times faithfully and finely representative of the actual operating conditions of the vehicle. For example, it will be understood that, in a cold weather starting situation, the friction will initially be high, and will tend to decrease if a temperature rise of the steering mechanism, which may be due in particular to the warming of the atmosphere surrounding and / or heating of the engine (propulsion) of the vehicle, improves the fluidity of the lubricant used within said steering mechanism. The invention will advantageously make it possible to take into consideration such evolutions, the cloud of points obtained in the first situation (here of cold start) being different in extent and / or distribution from that obtained in the second situation ( here of hot operation), which leads to the establishment of correlation laws, respectively derived from said clouds of different points, which are not identical in each of said situations. In general terms, the definition of the friction model proposed by the invention is therefore much more flexible, reactive and polyvalent than a definition which would be based on a pre-established theoretical model, "rigid" or "fixed", which one would try to define, very roughly, from a single calibration value. Preferably, the acquisition of the series of characterization points is slippery, so that, once the series has reached a predetermined maximum size n, the acquisition of one or more new point (s) ) characterizing P + 1, Pn + 2, --- Pn-H and adding said one or more characterization point (s) to the most recent (s) P + 1, Pn + 2, - - Pn-H to the series leads to the abandonment of the corresponding number of characterization point (s) the oldest (s) P1, P2 ... P, of said series. In other words, the refresh is accompanied by a gradual substitution of the new characterization points P + 1, Pn + 2, --- Pn-H, at the oldest characterization points P1, P2 ... P It is thus possible, while limiting the storage space and the computing power necessary for the smooth running of the process, to retain, for the definition of the friction model, only the most recent characterization points, and to eliminate, on the contrary, the definition of the correlation law L the "obsolete" characterization points considered as the least representative because the farthest from the moment (present) considered. This sliding replacement, preferably of constant sample size (series size), empirical data (characterization points) on the basis of which the construction of the friction model is based advantageously allows an efficient and permanent updating of said model, which increases its robustness and reliability. Preferably, the characterization points are acquired during steering inversions 15, that is to say when the driver of the vehicle (intentionally) changes the direction in which he operates the steering wheel 3, this change having the purpose and the effect of moving from a steering situation to the left, in which the driver exerts a force that pulls the steering wheel to the left, to a steering situation to the right, in which the driver exerts a force that pulls the steering wheel to the right, or vice versa.
    [0016] Indeed, any steering reversal 15 causes a tilting (reversal) of the direction of movement of the (movable) steering members.
    [0017] However, in practice, the resistant forces due to internal friction in the steering mechanism, which tend to oppose the steering maneuver, are of opposite sign to the sign of displacement (and more particularly to the sign of the speed of movement) of governing bodies.
    [0018] The tilting of the steering steering direction direction, and therefore the tilting of the direction of movement of the steering members, thus causes almost simultaneously simultaneously the disappearance of a first component of resistant force, attributable to friction that opposed, before turning reversal 15, the displacement of the steering members in the first direction (by convention, to the left), and secondly the appearance of a new (second) component of effort resistant, also attributable to friction, but of opposite sign to the first component of resistant force, and which this time opposes, after reversing steering 15, the displacement of the steering members in the second direction (to the right ) opposite to the first sense.
    [0019] The presence of friction, and more particularly the inversion of the direction of action of the friction during the inversion of the steering direction 15, is therefore at the origin of a hysteresis phenomenon which is reflected, at the time of inversion of the steering direction, by a fall, in absolute value, of the resisting force, and consequently by a fall, in absolute value, of the assistance effort Ca ', st which is delivered by the engine of assistance (and more generally by a fall of the actuating force Canon which is applied to the steering mechanism) to counter (and overcome) said resistant force. In FIGS. 2 and 3, this drop in the actuation force Caction has a height denoted H.
    [0020] In FIG. 2, it is clearly seen that the fall H (in absolute value) of the actuating force Caction coincides temporally with the steering inversions 15, as they appear from the dashed curve which illustrates the evolution in the time of the angular position ° steering wheel steering wheel, thus showing the alternation of the direction of rotation of said wheel, when the driver points, in the illustrated example, successively the steering wheel right, then left. It will be noted that, in the example of FIG. 2, the angular position of the steering wheel, representative of the steering steering configuration, is in fact expressed, in an equivalent manner, from the angular position of the steering wheel. 13 of the assistance motor shaft 2, which may for example be indicated by a suitable sensor resolver type.
    [0021] In the example of FIG. 2, the mechanical reduction ratio of the kinematic chain linking the shaft 13 of the assistance motor to the driving wheel 3 is of the order of 26, and the angle scale on the ordinate corresponds to mechanical kilo-degrees (103 degrees) of the motor shaft. The motor shaft reciprocations shown here alternate between -3600 degrees (motor shaft angle) and +3600 degrees (motor shaft angle), which corresponds to angular displacements of the motor shaft. steering wheel about +/- 139 degrees. According to one possible embodiment, steering inversions 15 can be detected by evaluating the time derivative of the signal representative of the actuating force (or of any other signal affected by the friction and therefore subject to a significant fall in steering reversal case, such as the torque command signal (Cmot): and then comparing the value of said time derivative with a predetermined threshold of variation Sp, c, in order to detect a higher derivative peak, threshold of variation Spic. Such a derivative peak, greater than said predetermined variation threshold, signals indeed a transition corresponding to a rapid variation (or even a quasi-discontinuity) of the signal considered, and more particularly to a fall (a zero approximation), in absolute value, said signal considered, and can therefore signal an inversion of steering direction 15 direction. In practice, it is possible to apply any derivation method making it possible to determine the variation of the signal chosen per unit of time (that is to say the slope of the curve representative of said signal), in this case between two times separated by a predetermined time interval (sampling period) sufficiently restricted. As an indication, the sampling period (also called "no" sampling) may be between 0.5 ms and 10 ms. Preferably, the friction measurement Fmes_1, Fmes2, Fmes_n at the characterization points P - 1, - P 2, - Pn is obtained from the height of fall H of a signal representative of the assistance effort. Cass, st delivered by the assistance motor 2, or, preferably, a signal representative of an effort (torque) of actuation 30 Total action corresponding to the accumulation of the effort (torque) of assistance Cass, st delivered by the assistance motor 2 and the manual effort (torque) exerted by the driver on the steering wheel 3. For convenience of description, but also because the actuation signal Caction allows a more complete perception of the friction phenomenon, as has been explained above, reference will preferably be made, but not exclusively, to said actuation signal Cact, in what follows, to describe in detail the (experimental) measurement of friction Fmes_1, Fmes_2, --- Fmes_n- More left In particular, it will be considered that the friction value which is to be measured is equal, in view of the hysteresis phenomenon mentioned above, to the half-height of fall H / 2, that is to say to the half-difference between the actuation force value which immediately follows the steering reversal 15 and the actuation force value immediately preceding the steering reversal 15, that is to say (cf. FIG. 3): Fmes_i = H / 2 = ACaction / 2. In practice, to access this value, it is first possible to identify a start time of a peak corresponding to the instant at which the time derivative actuation force signal (or, where appropriate, the derivative of the signal of at torque setpoint Cmot) passes above the variation threshold Sp, c, as well as a peak end time tfin which corresponds at the instant at which said time derivative of the actuating force signal decreases below said threshold of variation Spic- Advantageously, this will make it possible to precisely characterize the time (time-stamped) situation of the steering reversal 15 and the time span (duration) of said steering reversal. As illustrated in FIG. 3, it will be noted that the peak hold time which separates the peak end time tfio from the peak start time, and during which the time derivative remains greater than the threshold of variation Spic. Once the instants of beginning and end of peak have been identified, it will then be possible to determine, as is illustrated in FIG. 3, what was the value Cactioo (t1), referred to as the "actuation force value prior to the steering reversal "taken by the actuating force signal at a first reference time t1, which is equal to or earlier than the start time of peak tide, as well as the value Caction (t2), referred to as" actuation force value subsequent to the steering reversal ", taken by the actuation force signal at a second reference time t2, which is equal to or subsequent to the peak end time tfio, then evaluate friction Frnes; from the calculation of the difference between the value of the Cactioo reversing actuation force (t2) and the actuation force value prior to the Caction reversal (t1), c that is to say: Frnes; = ACaction / 2, with ACaction = I Caction (t2) - Caction (t1) I - This friction value Fmesi, plotted on the ordinate in FIG. 1, will be associated on the abscissa with the value of actuation force Caction; as it was just before turning reversal 15, that is to say just before the fall. We therefore have: Cactioru = Caction (t1). Thus, for a given steering reversal, the following characterization point is acquired: Pi = (Caction (t1); ACaction / 2).
    [0022] According to an implementation possibility, it will be possible, arbitrarily, to make the first reference time t1 coincide with the start time of the peak tdeb (that is, to set t1 = tb), and / or, in addition or alternatively, choose to make the second reference time t2 coincide with the end time of peak tfin (that is to say, put t2 = tbn).
    [0023] However, according to a second possibility, the first reference time t1 is preferably chosen strictly prior to the peak start time tb (t1 <tb), said first reference time preceding said peak start time of a value in advance 61 (that is to say: t1 = tseb - 61), and / or the second reference time t2 is chosen strictly after the end of peak (t2> tfin), said second instant next to said peak end time of a delay value 62 (i.e., t2 = tfin + 62). As an indication, the feed value 61 is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms (fifty milliseconds).
    [0024] As an indication, the delay value 62 is preferably between 20 ms and 100 ms, and for example substantially equal to 50 ms (fifty milliseconds). In other words, the time interval [t1;] is preferably widened (with respect to the peak hold duration dp, c). t2] on which one calculates the height of 25 ACaction fall of the signal considered (here the actuation force signal), and preferably on both sides of the derivative peak, both late and in advance. This widening of the measurement interval with respect to the gross interval defined by the instants of beginning and end of peak, broadening which represents preferably at least 10 ms (in advance as well as late), and for example Preferential 50 ms (in advance as well as in delay: 61 = 62 = 50 ms), makes it possible to ensure that the elapsed time (that is to say t2-t1) between the first reference time t1 and the second reference time t2 is effectively greater than or equal to (and possibly just greater than) the effective duration of the (complete) fall of the corresponding steering reversal signal 15.
    [0025] In the case of the application to the evaluation of the friction, this makes it possible to ensure that it covers the entire duration of the drop of the signal that is attributable to the inversion of steering 15, and therefore to friction. Thus, the method according to the invention makes it possible to ensure that the extreme values of the actuation force signal which correspond to the entirety of the drop height H of said signal, characteristic of the inversion, are well measured. steering, without truncating a portion of said chute. Further, the forward 61 and the delay 62 values, however, remain relatively lower than predetermined maximum broadening thresholds, so that the first reference time t1 and the second reference time t2 remain in the immediate temporal neighborhood. the field of transition (from the domain of the fall linked to the reversal of steering), in areas "frontier" of the transition, border domains in which the value of the signal concerned remains almost constant compared to the value which is taken by said transition boundary signal (the evolutions of said value in the border domains being for example contained in a range of amplitude less than or equal to 10%, at 5%, or even less than or equal to 1% of the height of the fall). Ultimately, the method according to the invention therefore makes it possible to measure substantially a drop height H which corresponds to the entire contribution proper to the friction and nothing to the contribution specific to the friction. By way of illustration, in the example of FIG. 2, a drop height ACaction = IC _action (t2) - Caction (t1) I of the order of 15,000 N - 8,200 N = 6,800 N is observed. which corresponds to a friction value of the order of 6,800 N / 2 = 3,400 N (ie 3.4 kN). By taking as a representative value of the actuation force the ICaction (t1) I value of 15,000 N (ie 15 kN) preceding the fall, the corresponding characterization point, which would contribute to the construction of the correlation law. L, would have coordinates (15,000 N, 3,400 N). It will be noted in passing that such a characterization point would in this case be perfectly coherent with the scatter plot already shown in FIG. 1, and indeed very close to the regression line representing the correlation law L in this same figure. 1. In the present case, the said characterization point is in fact substantially in the prolongation of the said regression line L, considered beyond the only domain shown in FIG. 1, and in this case extended to 35 l. abscissa (15 kN) corresponding to that of said characterization point.
    [0026] Preferably, the series of characterization points contains, on the one hand, at least 5 characterization points, or even at least 10 characterization points P1, P2, --- Pn and, on the other hand, 50 or even 100 characterization points P1, P2, ... Pn, that is to say that one preferably has 5 n 100, even 5 n 50, or 10 n 100, even 10 n 50. The objective is in particular to define the size n of the series, that is to say the number of characterization points P1, P2,... pn constituting the complete series, by finding a suitable compromise between, on the one hand, a sufficiently small size n, which makes it possible to save memory and computing power, but also limit the time required for the acquisition of said series, and secondly a size n large enough to obtain a representative model. As an indication, the size n of the series may be chosen so that the (complete) acquisition time of said series is, under the foreseeable or observed conditions of use of the vehicle, substantially between one minute and five minutes. minutes, or even ten minutes, and more particularly between one minute and three minutes. It will thus quickly have a representative friction model, shortly after starting the vehicle, and therefore a reliable estimate of friction in all circumstances, including short trips.
    [0027] According to a possible variant of implementation, the size n of the series of characterization points can be modified (adapted) dynamically during the life of the steering mechanism 1, and more generally during the life of the vehicle, according to the detection of certain (predetermined) life situations of the vehicle equipped with said steering mechanism, and more particularly according to the history of certain parameters, or a combination of certain parameters, such as the speed of the vehicle, the angular amplitude (where appropriate cumulative) steering wheel maneuvers, or the intensity of the steering wheel torque and / or the assist torque (or, more generally, the actuation force). Indeed, it will be understood for example that in a driving situation on a winding road, at low speed, and involving large-amplitude steering wheel movements and relatively high actuation forces, the steering inversions will be numerous, and therefore the acquisition of rapid characterization points, even for a large series size (for example greater than or equal to 30 points, or even 50 points).
    [0028] In fact, on a winding road (i.e. including turns), the inventors found that one could thus acquire about four to five characterization points per minute. In such a situation, it will be possible to maintain a series of relatively large size, and in spite of this, to obtain and evolve relatively quickly a realistic friction model, which will thus be ensured, for example, that it will take into consideration in particular the effects of a rapid heating of the steering mechanism (induced in particular by the effects of friction in said steering mechanism and / or in the neighboring brakes, or even by the heat losses 10 of the engine used to propel the vehicle, under the for example, periodic increases in the rate of accelerated recoveries). Conversely, in a situation of regular motorway driving, at high speed, with very few significant corrections of trajectory and very few changes of taxiway, corrections or changes which moreover put into relatively low actuation, turning inversions, and therefore the acquisition of characterization points, will be relatively infrequent. In addition, the regularity of the conditions of use in such a motorway driving situation will make it possible to obtain a realistic friction model with relatively few characterization points, located in the immediate vicinity of said conditions of use (typically in a range). reduced actuation forces, corresponding to the actuation forces involved to simply maintain the alignment of the vehicle on his way). In this second situation, it will be possible to reduce the size of the series, in particular to reduce the time required for its complete acquisition (and then its refreshment). Whatever the changes in the size of the series, it will of course remain greater than 2 points, 3 points, and preferably 5 points, or even 10 points, in order to maintain a plurality of characterization points, number sufficient to form a sample representative of the behavior of the steering mechanism 1 at the instant considered. As such, the size (number of points) of the series, whether during the initial selection or during subsequent adaptations, will preferably remain contained in the interval [5; 100], or even [5; 50] mentioned above. Preferably, the method according to the invention comprises, once the empirical friction model has been constructed, a step (c) of estimation of friction, during which the Caction value is measured at a given instant t ( t) taken by the assisting force (that is to say by the first input variable, here the Caction actuation force), and we deduce, by extrapolation, using the Correlation law L in force at the moment considered (as illustrated by the arrows in Figure 1), a Féval estimate of the value of the friction which affects the steering mechanism 1 at said instant. Advantageously, knowledge of the correlation law L drawn from the series of characterization points makes it possible to generalize the friction model beyond only the characterization points, and thus to estimate in a reliable and realistic manner the value of the friction from of any value taken by the first variable (by the actuating force), even though said value of the first variable (of the actuating force) is distinct from the point cloud, that is to say does not necessarily correspond strictly to the abscissa of a characterization point belonging to the cloud that was used to establish the correlation law L.
    [0029] As such, the curve of the correlation law L remaining permanently framed, and thus guided, by construction, by the points of characterization P1, P2, ... Pn experimental, such an extrapolation of the model to operating points other that the characterization points, and in particular at operating points located at intermediate abscissa between these characterization points, remains reliable. As illustrated in FIGS. 1 and 3, the invention therefore makes it possible, by using the correlation law L constructed from the characterization points, to associate, at any moment t, where it is desired to obtain information. concerning the friction that affects the steering mechanism, an evaluation Feevai said friction (output data, corresponding to the ordinate of the correlation law) to any state of stress of the steering mechanism (input data, corresponding to the abscissa of the correlation law), and more particularly to any measured or evaluated value of the actuation force Caction (t). The evaluation of the friction Feval resulting from the use of the friction model can then be exploited in any management method of the steering mechanism, or more generally in any vehicle management method, for example by allowing compensation of said friction, to improve the comfort of driving or the tactile feel of the steering mechanism, as the driver perceives it through the steering wheel 3.
    [0030] Of course, the functions assigned to the method according to the invention may be carried out by suitable calculation modules, and more particularly by an assistance law application module 12, an acquisition module (of characterization points). , a model construction module (correlation law calculation module) 17, and a friction evaluation module 18 (applying the correlation law L thus defined to estimate, at any time and for any value of the Caction actuation force (t), the friction Fe (i) (t) corresponding). Each of the aforementioned modules may be formed by an electronic circuit, an electronic card, a computer (computer), a programmable controller, or any other equivalent device. Each of the aforementioned modules may have a physical control structure, related to the wiring of its electronic components, and / or, preferably, a virtual control structure, defined by computer programming. Of course, the invention also relates as such to any computer readable data medium containing computer program code elements for executing the method according to the invention when said medium is read by a computer. It also relates to a power steering system comprising a power steering mechanism 1 controlled by a management module including all or part of the aforementioned modules, and thus capable of implementing the method according to the invention. It also relates to a motor vehicle, in particular with steering wheels 9, 10, possibly driving, equipped with such a power steering system. Finally, it will be noted that the method according to the invention, which exploits the signals generally available within the assisted steering systems, can be easily generalized to all the assisted directions, including retrofitting on many already existing power steering, by a simple reprogramming their calculator. Of course, the invention is also in no way limited to the only embodiments described above, the person skilled in the art being particularly able to isolate or combine freely between them one or the other characteristics mentioned above, or to substitute equivalents for them. 35
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A method of evaluating friction in a power steering mechanism (1) equipped with an assist motor (2) for providing an assisting force to maneuver said steering mechanism, said method being characterized in that it comprises a step (a) of acquisition of a series of characterization points, during which, for several different values successively taken by the assistance effort during the operation of the steering mechanism, the values are measured. corresponding friction, in order to obtain empirically a series of distinct characterization points (P1, P2, ... Pn) which each associate with a measured value representative of the assistance effort (Caction_l, Caction_2, --- Cactionnar) a measured value of friction (Fmes_b Fmes_2, --- Fmes_n), then a step (b) of construction of an empirical friction model, during which one establishes a law of correlation (L) between the points of characterizing (P1, P2, Pn) constituting the series of characterization points, from the point cloud 15 formed by said series of said characterization points.
    [0002]
    2. Method according to claim 1 characterized in that the step (a) of acquisition and the step (b) of model construction are refreshed iteratively during the operation of the steering mechanism, so that the law correlation (L) is redefined as new points of characterization are acquired (P1, P2, --- P, Pn + 1 ---) -
    [0003]
    3. Method according to claim 1 or 2 characterized in that the acquisition of the series of characterization points is slippery, so that, once the series has reached a predetermined maximum size (n), the acquisition of one or more new characterization point (s) (P Pn + 2, --- Pn-H) and the addition of said one or more characterization point (s) the most recent point (s) (s) the series leading to the abandonment of the corresponding number of characterization point (s) the (a) plus a ncien (s) (P1, P2 ... P,) of said series.
    [0004]
    4. Method according to one of the preceding claims characterized in that the series contains between on the one hand at least 5 characterization points, or even at least 10 points of characterization (P '- 1, - P 2, --- Pn) and on the other hand 50 or even 100 points of characterization.
    [0005]
    5. Method according to one of the preceding claims, characterized in that the size (n) of the series of characterization points is changed dynamically during the life of the steering mechanism (1), depending on the detection. certain predetermined life situations of the vehicle equipped with said steering mechanism.
    [0006]
    6. Method according to one of the preceding claims characterized in that the correlation law (L) is established in the form of an interpolation curve or a regression curve with respect to the series of characterization points (P1). , P2, --- Pu).
    [0007]
    7. Method according to one of the preceding claims characterized in that the correlation law (L) is obtained by linear regression on the series of characterization points (P1, P2, Pu), preferably by the method of least squares.
    [0008]
    8. Method according to one of the preceding claims characterized in that the measured value representative of the assistance effort is selected from: the value of the engine torque setpoint (Cmot) which is applied to the assistance engine (2 ), the measured value of the assisting electromagnetic torque (Ca ',, t) actually exerted by the output shaft (13) of the assist motor, or the measured value of the total operating torque (Cact, on) which corresponds to the accumulation on the one hand of the assistance torque (Ca ',, t) delivered by the assistance motor (2) and on the other hand of the steering wheel torque (C'oiant) which is exerted by the driver on the driving wheel (3).
    [0009]
    9. Method according to one of the preceding claims characterized in that the characterization points (P1, P2, ... Pn) are acquired during steering inversions (15) and in that the measurement of the friction (Fnies_i, Fnies_2, Fnies_n) at the characterization points IP l-1, - P 2, --- Pn) is obtained from the height of fall (H) of a signal representative of the assistance effort (Ca ', , t) delivered by the assistance motor (2), or, preferably, a signal representative of a total actuating force (Cact, on) corresponding to the accumulation of the assistance effort (Ca ', , t) delivered by the assistance motor (2) and the manual effort (C'oiant) exerted by the driver on the driving wheel (3).
    [0010]
    10. Method according to one of the preceding claims characterized in that it comprises a step (c) of friction estimation, during which one is measured at a time considered (t), the value taken by the effort (Cact, 00 (t)), and from the extrapolation, using the correlation law (L) in force at the moment considered, an estimate (Fval) of the value of the friction which affects the steering mechanism (1) at said instant.
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    同族专利:
    公开号 | 公开日
    CN106104243B|2020-03-10|
    JP6793550B2|2020-12-02|
    PL3120124T3|2018-09-28|
    FR3018917B1|2016-04-01|
    EP3120124B1|2018-04-11|
    CN106104243A|2016-11-09|
    EP3120124A1|2017-01-25|
    US10180378B2|2019-01-15|
    WO2015140447A1|2015-09-24|
    JP2017507844A|2017-03-23|
    US20170023445A1|2017-01-26|
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    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1452216A|FR3018917B1|2014-03-18|2014-03-18|MODELING FRICTION IN A DIRECTION ASSISTED BY A CLOUD OF POINTS|FR1452216A| FR3018917B1|2014-03-18|2014-03-18|MODELING FRICTION IN A DIRECTION ASSISTED BY A CLOUD OF POINTS|
    EP15713994.0A| EP3120124B1|2014-03-18|2015-03-09|Modelling of the friction in an assisted steering using a scatter of points|
    PCT/FR2015/050572| WO2015140447A1|2014-03-18|2015-03-09|Modelling of the friction in an assisted steering using a scatter of points|
    PL15713994T| PL3120124T3|2014-03-18|2015-03-09|Modelling of the friction in an assisted steering using a scatter of points|
    CN201580014508.XA| CN106104243B|2014-03-18|2015-03-09|Method for establishing friction force model of power steering system by using discrete points|
    US15/124,260| US10180378B2|2014-03-18|2015-03-09|Modelling of frictions in a power steering system using a scatter of points|
    JP2016558035A| JP6793550B2|2014-03-18|2015-03-09|Modeling friction in power steering using point dispersion|
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