The present invention relates to a method for steering control based on disturbance compensation and an electric steering apparatus. In accordance with the present invention, the method for steering control based on disturbance compensation applied to the electric steering apparatus (1) comprises: a step in which a steering controller (10) detects a disturbance transferred from a tire (110) to a steering wheel (3) during driving; a step of, when the disturbance is detected, transferring the final compensation volume calculated by meeting the disturbance intensity and the size of steering torque as a disturbance compensation-based steering output (H) to a steering motor (6); and a step of providing a stable steering feel to a driver by compensating the disturbance by driving the steering motor in the opposite direction to the vibration. More specifically, the present invention is able to calculate the final compensation volume by even considering the vibration intensity which becomes smaller from the tire side toward the steering wheel side because of the difference in the steering angular speed between a motor angle sensor and a steering angle sensor, and greatly improve the disturbance rigidity and the performance of noise, vibration, and harshness (NVH) in a normal vehicle with a tendency of having a higher performance as well as in a high-performance vehicle.
본 발명의 전동조향장치(1)에 적용된 외란 보상 조향제어 방법은 주행 중 타이어(110)로부터 조향 휠(3)로 전달되는 외란이 조향 컨트롤러(10)에 의해 검출되고, 외란 검출 시 외란세기와 조타토크 크기에 맞춰 계산된 최종 보상량을 외란보상 조향출력(H)으로 조향 모터(6)에 전달함으로써 주행 중 외란발생을 조향 모터의 진동 반대 방향 구동으로 보상하여 운전자에게 안정적인 스티어링 필을 제공하여 주고, 특히 모터각 센서와 조향각 센서의 조향각속도 차로 타이어쪽에서 조향휠쪽으로 갈수록 작아지는 진동세기까지 고려한 최종 보상량 계산이 이루어짐으로써 고성능 차량은 물론 고성능화 경향을 갖는 일반차량에서도 외란 강건성과 NVH(Noise, Vibration, Harshness)의 성능이 크게 향상되는 특징을 구현한다.
Method for Steering Control Based On Disturbance Compensation and Motor Driven Power Steering System Thereof
외란 보상 조향제어 방법 및 전동조향장치
2021-05-27
Patent
Electronic Resource
Korean
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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