The present invention relates to a technique for estimating rack force by using force transmitted from a steering motor of an SBW system to a rack bar. According to the present invention, provided is a method for estimating rack force of an SBW system, wherein restoring force applied to a reducer is calculated based on the position value of the rack bar obtained at the front and rear of the reducer when the position of the rack bar changes according to the operation of the steering motor, and the rack force is calculated by reflecting the restoring force in a motion equation that includes the inertial force of the SBW system.
본 발명은 SBW시스템의 조향모터에서 랙바에 전달되는 힘을 활용하여 랙포스를 추정하는 기술에 관한 것으로, 본 발명에서는, 조향모터의 작동에 따라 랙바의 위치가 변화하는 경우, 감속기 전단 및 후단에서 구해지는 랙바의 위치값을 기반으로 감속기에 걸려지는 복원력을 계산하고; SBW시스템의 관성력이 포함된 운동방정식에 상기 복원력을 반영하여 랙포스를 계산하는 특징으로 하는 SBW시스템의 랙포스 추정방법이 소개된다.
SBW METHOD FOR ESTIMATING RACK FORCE OF STEER BY WIRE SYSTEM
SBW시스템의 랙포스 추정방법
2020-03-26
Patent
Elektronische Ressource
Koreanisch
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