Zf Lenksysteme Gmbh

Robert Bosch Automotive Steering Gmbh

Stefan Gruener

Thomas Nierobisch

Thomas Werner

Tomas Hrycej

In an electric steering device, a plurality of periodic disturbances (M(f), M(f), . . . M(f)) can occur which are to be compensated, while additionally occurring, in particular non-periodic, disturbances () are not to be compensated. So as to enable simultaneous compensation of a plurality of such periodic disturbances based on a model (G(s)) of the steering device, it is proposed to map the further disturbances Moccurring in addition to the disturbances M(f), M(f), (Mf) to be compensated, together with inaccuracies or modeling errors (&#x394;s) of the model (G(s)) in the form of an unstructured disturbance ().

Method and device for compensating fault in an electrical steering system

A torque actuator is regulated so as to permit an activation of the torque actuator such that steering wheel rotary oscillations that occur can be compensated. For this purpose, in one embodiment, a torsion bar torque is detected. A compensation torque is determined as a function of the detected torsion bar torque by means of a variable-frequency disturbance variable and state variable calculator. The compensation torque or a signal corresponding to the compensation torque is then taken into consideration during activation of the torque actuator.

Method and device for the compensation of steering wheel rotary oscillations in a steering system

Provided is a way of using an estimator to determine a force (Fz), which acts from the outside on a steering gear of a steering device in a vehicle by way of a steering linkage, wherein a motor for generating a steering torque is assigned to the steering device. This is achieved by estimating the force (Fz) acting from the outside as a function of an effective motor torque (tor_RAeff), wherein the effective motor torque (tor_RAeff) is determined as a function of a motor torque and an efficiency, the efficiency being determined as a function of the estimated force (Fz).

Determination of a force acting on a steering mechanism

So as to provide, with high accuracy, an actuating variable for actuating a torque control element in an electric vehicle steering system and achieve this with reduced complexity as compared to the known methods and devices, an actual torsion-bar torque (M) is detected, a differential torque is found from a predefined target torsion-bar torque (M) and the actual torsion-bar torque (M), and the actuating variable is determined by means of an output feedback controller, as a function of the differential torque.

Growing community of inventors

Auenwald, Germany

Stefan Gruener