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公开(公告)号：US11180186B2
公开(公告)日：2021-11-23
申请号：US16376116
申请日：2019-04-05
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Prerit Pramod , Kai Zheng , Mariam Swetha George , Tejas M. Varunjikar
IPC: B62D5/04
Abstract: Technical solutions are described for disturbance feedforward compensation technique for improving the disturbance rejection properties of a closed loop position control system. According to one or more embodiments, a steering system includes a position controller that generates a torque command based on an input rack-position command and a measured position command. Further, a disturbance estimator that estimates a rack force acting on a rack, and an adder generates an adjusted torque command by adding the rack force that is estimated into the torque command. The steering system further includes an actuator that positions the rack according to the adjusted torque command.
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公开(公告)号：US10906581B2
公开(公告)日：2021-02-02
申请号：US16206086
申请日：2018-11-30
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Scott T. Stanford , Kai Zheng
Abstract: Technical solutions are described herein for steer-by-wire (SBW) steering systems to detect a rack-limiting condition and generate feedback signal that can provide responsive handwheel torque for a driver. According to one or more embodiments the steer-by-wire steering system includes a processor that receives input signals comprising a handwheel velocity signal and a vehicle speed signal. The processor determines a simulated left end stop position of a rack based on the input signals, and a simulated right end stop position of a rack based on the input signals. The processor compares a rack position with the simulated left end stop position and the simulated right end stop position. The processor generates a feedback signal based on a determination that the rack position is not within a range bound by the left end stop position and the right end stop position.
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公开(公告)号：US20190084614A1
公开(公告)日：2019-03-21
申请号：US16134126
申请日：2018-09-18
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Steven D. Klein , Kai Zheng , Scott T. Sanford
Abstract: According to one or more embodiments a steer by wire steering system includes a handwheel actuator that provides a commanded position for a rack of a vehicle. The steer by wire steering system further includes a roadwheel actuator that moves the rack to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a diagnostic apparatus to compute a reference position based on the commanded position, and to compute a reference tracking error based on a difference between the reference position and the rack position. The diagnostic apparatus further determines a fault condition with the steer by wire system using the reference tracking error.
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公开(公告)号：US11414122B2
公开(公告)日：2022-08-16
申请号：US16290342
申请日：2019-03-01
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Kai Zheng , Steven Klein , Mariam Swetha George , Scott T. Sanford
Abstract: According to one or more embodiments, a steer by wire steering system includes a handwheel actuator, a roadwheel actuator, and a resynchronization module to dynamically adjust handwheel position that is used for rack position reference calculation. The dynamic adjustment includes determining a desynchronization amount based on a difference in an actual handwheel position and a synchronized handwheel position. The dynamic adjustment further includes computing a handwheel adjustment using the desynchronization amount, a vehicle speed, and a handwheel speed. The dynamic adjustment further includes computing an adjusted handwheel position based on the handwheel adjustment and the actual handwheel position. The dynamic adjustment further includes updating the reference rack position based on the adjusted handwheel position. The dynamic adjustment is continuously repeated until the handwheel adjustment is substantially equal to zero.
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公开(公告)号：US11027773B2
公开(公告)日：2021-06-08
申请号：US16134126
申请日：2018-09-18
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Steven D. Klein , Kai Zheng , Scott T. Sanford
Abstract: According to one or more embodiments a steer by wire steering system includes a handwheel actuator that provides a commanded position for a rack of a vehicle. The steer by wire steering system further includes a roadwheel actuator that moves the rack to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a diagnostic apparatus to compute a reference position based on the commanded position, and to compute a reference tracking error based on a difference between the reference position and the rack position. The diagnostic apparatus further determines a fault condition with the steer by wire system using the reference tracking error.
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Patent Agency Ranking
公开(公告)号：US11203379B2
公开(公告)日：2021-12-21
申请号：US16376122
申请日：2019-04-05
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Prerit Pramod , Kai Zheng , Mariam Swetha George , Tejas M. Varunjikar
Abstract: Technical solutions are described for disturbance feedforward compensation technique for improving the disturbance rejection properties of a closed loop position control system using a cascaded control structure with an inner velocity and outer position control loops. According to one or more embodiments, a system includes a position controller that receives an input rack-position command, and a measured rack-position, and computes a velocity command based on a difference in the input rack-position command and the measured rack-position. The system further includes a velocity controller that receives the velocity command, and a measured motor velocity, and computes an input torque command based on a difference in the velocity command and the measured motor velocity. The system adjusts a position of a rack by generating an amount of torque corresponding to the applying the input torque command to a motor.
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公开(公告)号：US10800443B2
公开(公告)日：2020-10-13
申请号：US16134132
申请日：2018-09-18
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Steven D. Klein , Kai Zheng , Scott T. Sanford
Abstract: According to one or more embodiments described herein, a steer by wire steering system includes a pair of actuators, a handwheel actuator that provides a commanded position to a roadwheel actuator, which moves a rack of the vehicle to a rack position based on the commanded position from the handwheel actuator. The steer by wire steering system further includes a controller that generates a handwheel torque command, the handwheel actuator generates a feedback torque based on the handwheel torque command. The controller further computes a tracking error based on a difference between the commanded position and the rack position. The controller further determines a catch motor torque value using the tracking error. The controller further modifies the handwheel torque command using the catch motor torque, the handwheel actuator generates an amount of torque that is substantially a sum of the feedback torque and the catch motor torque.
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公开(公告)号：US20200239061A1
公开(公告)日：2020-07-30
申请号：US16260508
申请日：2019-01-29
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Kai Zheng , Hemant K. Sharma , Xingye Zhang , Mariam Swetha George
Abstract: According to one or more embodiments, a steer by wire steering system includes a handwheel, and a handwheel actuator configured to secure a position of the handwheel. The securing includes determining a transition of the steer by wire steering system to an ingress/egress mode. The securing further includes, based on the determination that the steer by wire steering system is in the ingress/egress mode, computing a holding torque command based on a difference in a present angle of the handwheel and a target angle of the handwheel, which is caused by an input torque. Further, the securing includes generating a holding torque corresponding to the holding torque command to secure the position of the handwheel.
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公开(公告)号：US20200076343A1
公开(公告)日：2020-03-05
申请号：US16117272
申请日：2018-08-30
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Xingye Zhang , Kai Zheng , Chethan Narayanaswamy
Abstract: According to one or more embodiments, a motor control system includes a first controller computing a first torque command using a first closed loop. The motor control system further includes a second controller computing a second torque command using a second closed loop. Both, the first controller and the second controller, compute the respective first torque command and the second torque command using a uniform calculation in which a pseudo/leaky integrator Ki s + ɛ in s domain (s is Laplace variable) is used and integrator state is calculated as Ki * ∫0te(τ)exp(Åτ−∈t)dτ, in time domain, which is implemented by discretization methods in electric control unit (ECU), where e is a tracking error, Ki is a predetermined integral parameter, and E is a configurable parameter. The motor control system further includes a motor that receives a torque command for generating corresponding amount of torque based on the first torque command and the second torque command.
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公开(公告)号：US11254345B2
公开(公告)日：2022-02-22
申请号：US16260508
申请日：2019-01-29
Applicant: STEERING SOLUTIONS IP HOLDING CORPORATION
Inventor： Kai Zheng , Hemant K. Sharma , Xingye Zhang , Mariam Swetha George
Abstract: According to one or more embodiments, a steer by wire steering system includes a handwheel, and a handwheel actuator configured to secure a position of the handwheel. The securing includes determining a transition of the steer by wire steering system to an ingress/egress mode. The securing further includes, based on the determination that the steer by wire steering system is in the ingress/egress mode, computing a holding torque command based on a difference in a present angle of the handwheel and a target angle of the handwheel, which is caused by an input torque. Further, the securing includes generating a holding torque corresponding to the holding torque command to secure the position of the handwheel.
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