Zf Lenksysteme Gmbh

Robert Bosch Automotive Steering Gmbh

Thomas Nierobisch

Stefan Gruener

Tomas Hrycej

Stefan Grüner

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.

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Leinzell, Germany

Thomas Nierobisch