公开(公告)号：US20060025911A1

公开(公告)日：2006-02-02

申请号：US10901521

申请日：2004-07-29

Applicant: Yixin Yao ,  Brian Daugherty

Inventor： Yixin Yao ,  Brian Daugherty

IPC: B62D5/04

CPC classification number: B62D6/008 ,  B62D5/006

Abstract: A control system and method for a steer-by-wire system with the passive resistance torque is provided. The control system includes a controller configured to compensate for a passive resistance torque and to generate the required active torque using a three loop control structure: torque feedback loop, rate feedback loop, and steering wheel angle feedback loop. The torque feedback loop is based on an estimated steering torque signal calculated from a steering angle signal, a steering angle rate signal, and a motor current signal.

Abstract translation: 提供了一种具有被动电阻转矩的用于线控转向系统的控制系统和方法。 该控制系统包括控制器，该控制器被配置为补偿被动电阻转矩并且使用三回路控制结构产生所需的有效转矩：扭矩反馈回路，速率反馈回路和方向盘角度反馈回路。 转矩反馈回路基于从转向角信号，转向角速率信号和电动机电流信号计算的估计转向转矩信号。

公开(公告)号：US06865462B2

公开(公告)日：2005-03-08

申请号：US10444335

申请日：2003-05-23

Applicant: Yixin Yao ,  Behrouz Ashrafi

Inventor： Yixin Yao ,  Behrouz Ashrafi

IPC: B62D6/00 ,  B62D5/04 ,  G06F19/00

CPC classification number: B62D6/008 ,  B62D6/002

Abstract: The present invention involves a method for initial synchronization of steering wheel and a road wheels in a steer-by-wire system of a vehicle when the system is first powered. The method includes providing a steering wheel control system and a road wheel control system. The method further includes sensing relative angles and the absolute angles of the steering wheel, road wheel, and right road wheel. The method further includes generating an augmented steering wheel angle, an augmented left road wheel angle, and an augmented right road wheel angle based on the relative angle and initial value of the absolute angles of the steering wheel and road wheels. The method further includes using the augmented steering wheel angle as a feedback signal to the steering wheel control system and the augmented left and right road wheel angles feedback signals to the road wheels control system. The method further includes controlling the steering wheel and the road wheels to perform initial synchronization of the steering wheel and the road wheels, thereby allowing the vehicle to be operable during the initial synchronization.

Abstract translation: 本发明涉及一种当系统首次供电时在车辆转向系统中的方向盘和车轮的初始同步的方法。 该方法包括提供方向盘控制系统和车轮控制系统。 该方法还包括感测方向盘，车轮和右车轮的相对角度和绝对角度。 该方法还包括基于方向盘和车轮的绝对角度的相对角度和初始值产生增大的方向盘角度，增大的左车轮角度和增大的右车轮角度。 该方法还包括使用增大的方向盘角度作为方向盘控制系统的反馈信号和增大的左右车轮角反馈信号到车轮控制系统。 该方法还包括控制方向盘和车轮以执行方向盘和车轮的初始同步，从而允许车辆在初始同步期间可操作。

公开(公告)号：US06799104B2

公开(公告)日：2004-09-28

申请号：US10341195

申请日：2003-01-13

Applicant: Yixin Yao ,  Gregory J. Stout

Inventor： Yixin Yao ,  Gregory J. Stout

IPC: B62D1100

CPC classification number: B62D6/008 ,  B62D5/001 ,  B62D5/006 ,  B62D6/002 ,  B62D6/04

Abstract: The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control subsystem with servo control structure having road wheel angles and angular rates feedbacks including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, a robust control is implemented in the road wheel controller to overcome affects of uncertainties and disturbances from the steer-by-wire system, vehicle, and external environment.

Abstract translation: 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供具有伺服控制结构的车轮控制子系统，该伺服控制结构具有车轮角度和角速度反馈，包括车轮控制车间和用于控制实际车轮角度以跟踪到车轮参考角度的车轮控制器。 此外，在车轮控制器中实施鲁棒的控制，以克服来自线控转向系统，车辆和外部环境的不确定性和干扰的影响。

公开(公告)号：US06728615B1

公开(公告)日：2004-04-27

申请号：US10356441

申请日：2003-02-03

Applicant: Yixin Yao ,  Gregory J. Stout

Inventor： Yixin Yao ,  Gregory J. Stout

IPC: G06F700

CPC classification number: B62D6/008

Abstract: The present invention involves a system and method of controlling a steer-by-wire system to produce adjustable steering feel for A vehicle driver by providing control of reaction torque on a steering wheel of a vehicle. The method includes a quantitative description for the steering feel which is obtained by establishing a relationship of steering wheel reaction torque and steering wheel angle, road wheel torque, and vehicle speed. The system and method include steer-by wire system closed-loop feedback controls with inner torque loop, steering wheel rate feedback loop, and steering wheel angular position feedback loop to implement providing the steering feel, active steering wheel return with the different rotation rate, steering wheel stop according to the road wheel angular position in a parking state, and directional angle reference generation to road wheels.

Abstract translation: 本发明涉及一种通过提供车辆方向盘上的反作用转矩控制来控制线控转向系统以产生A车辆驾驶员的可调转向感的系统和方法。 该方法包括通过建立方向盘反作用力矩和方向盘角度，车轮扭矩和车辆速度的关系而获得的转向感觉的定量描述。 该系统和方法包括转向线系统闭环反馈控制，内转矩回路，方向盘速率反馈回路和方向盘角位置反馈回路，实现提供转向感，主动方向盘返回不同转速， 根据驻车状态下的车轮角位置的方向盘停止，以及向车轮的方向角度参考生成。

公开(公告)号：US06688420B2

公开(公告)日：2004-02-10

申请号：US10449388

申请日：2003-05-30

Applicant: Bing Zheng ,  M. Yi-Yang Huang ,  Yixin Yao

Inventor： Bing Zheng ,  M. Yi-Yang Huang ,  Yixin Yao

IPC: B62D504

CPC classification number: B62D5/006 ,  B62D6/008

Abstract: The present invention involves a system and method of controlling a steering wheel for simulated steering feel on a steering wheel of a vehicle with front road wheels in a steer-by-wire system. The method includes sensing actual torsion on the steering wheel, comparing the actual torsion to a threshold torque value, sensing actual angular velocity of the steering wheel, and comparing the actual angular velocity to a threshold angular velocity. The method further includes generating a simulated steering feel torque on the steering wheel, if the actual torsion is greater than the threshold torque value and the actual angular velocity is less than the threshold angular velocity. The method further comprises returning the steering wheel to the center position at a specified angular velocity, if the actual torsion is less than the threshold torque value and the actual angular velocity is greater than the threshold angular velocity.

Abstract translation: 本发明涉及一种控制方向盘的系统和方法，该系统和方法用于在线控转向系统中具有前轮的车辆的方向盘上的模拟转向感觉的方向盘。 该方法包括感测方向盘上的实际扭转，将实际扭矩与阈值扭矩值进行比较，检测方向盘的实际角速度，以及将实际角速度与阈值角速度进行比较。 该方法还包括如果实际扭转大于阈值扭矩值并且实际角速度小于阈值角速度，则在方向盘上产生模拟转向感觉转矩。 该方法还包括如果实际扭转小于阈值扭矩值并且实际角速度大于阈值角速度，则以特定的角速度将方向盘返回到中心位置。

公开(公告)号：US06941822B2

公开(公告)日：2005-09-13

申请号：US10458346

申请日：2003-06-10

Applicant: Yixin Yao

Inventor： Yixin Yao

IPC: G01D5/14 ,  G01L3/02 ,  G01L3/10 ,  G01P3/487 ,  H02P6/16

CPC classification number: G01P3/487 ,  G01D5/145 ,  H02P6/16

Abstract: A method and system for sensing angular displacement is provided. More specifically, the system includes a brushless DC motor, three Hall effect sensors, an angular displacement signal processor, and an output state observer. The Hall effect sensors provide three electrical angles of the motor rotor which are used in an angular displacement signal processor that is implemented in hardware and software. The angular displacement signal processor provides an improved resolution angular displacement output. Based on the angular displacement output from angular displacement signal processor and the motor control command signal from the motor drive, an output state observer is applied to generate a high resolution angular displacement signal.

Abstract translation: 提供了一种感测角位移的方法和系统。 更具体地，该系统包括无刷直流电动机，三个霍尔效应传感器，角位移信号处理器和输出状态观察器。 霍尔效应传感器提供电机转子的三个电角度，这些电角度用于以硬件和软件实现的角位移信号处理器。 角位移信号处理器提供改进的分辨率角位移输出。 基于角位移信号处理器的角位移输出和来自电机驱动器的电机控制命令信号，施加输出状态观测器以产生高分辨率角位移信号。

公开(公告)号：US06928352B2

公开(公告)日：2005-08-09

申请号：US10370891

申请日：2003-02-20

Applicant: Yixin Yao ,  Gregory J. Stout

Inventor： Yixin Yao ,  Gregory J. Stout

IPC: B62D6/00 ,  B62D5/00 ,  B62D5/04 ,  B62D101/00 ,  B62D111/00 ,  B62D113/00 ,  B62D137/00 ,  B62D11/00

CPC classification number: B62D5/001 ,  B62D5/006

Abstract: The present invention involves a method and system of initial aligning wheels of vehicle steer-by-wire systems with two independent front road wheels in the real time. The method comprises providing a steering wheel control sub-system and a road wheel control sub-system, providing an initial alignment unit and procedure to align the road wheels and steering wheel, and receiving relative and absolute steering wheel angles and road wheel angles. The method further includes generating wheel aligning reference angles based on the relative and absolute wheel angle, generating the switch control signal based wheel aligning reference angles using the logic operation with the threshold, and determining the steer-by-wire systems in the control state or in the initial alignment state.

Abstract translation: 本发明涉及实时地具有两个独立前轮的车辆线控系统的初始对准轮的方法和系统。 该方法包括提供方向盘控制子系统和车轮控制子系统，提供对准车轮和方向盘的初始对准单元和过程，以及接收相对且绝对的方向盘角度和车轮角度。 该方法还包括基于相对和绝对轮角产生车轮对准参考角度，使用具有阈值的逻辑运算产生基于开关控制信号的车轮对准参考角，以及确定处于控制状态的线控转向系统，或者 在初始对准状态。

公开(公告)号：US06799105B2

公开(公告)日：2004-09-28

申请号：US10261912

申请日：2002-10-01

Applicant: Gregory J. Stout ,  Yixin Yao

Inventor： Gregory J. Stout ,  Yixin Yao

IPC: G06F700

CPC classification number: B62D6/002 ,  B62D6/02 ,  Y10S706/913

Abstract: The present invention involves a system and method of controlling a variable steering ratio of a vehicle steer-by-wire system. The variable steering ratio control varies the steering ratio continuously according to steering angle and vehicle speed. The method comprises sensing an actual steering wheel angle and an actual speed of the vehicle and converting the actual steering wheel angle and vehicle speed into values in fuzzy sets based on a steering wheel angle and vehicle speed membership functions with linguistic term labels. The method further includes determining a corresponding degree of membership of the steering wheel angle and vehicle speed. The method further includes inferring a fuzzy road wheel reference angle output value by determining the degree of membership function for the road wheel reference angle using fuzzy rules based on the degrees of steering angle and the vehicle speed. The method further includes converting a fuzzy road wheel angle into an actual road wheel angle. The variable steering ratio can be adjusted according to the vehicle operator's desire with a progressive ratio setup.

公开(公告)号：US06761243B2

公开(公告)日：2004-07-13

申请号：US10037060

申请日：2001-12-31

Applicant: Gregory James Stout ,  Yixin Yao

Inventor： Gregory James Stout ,  Yixin Yao

IPC: B62D500

CPC classification number: B62D5/006 ,  B62D6/008 ,  F16F9/535

Abstract: One aspect of the present invention regards an automotive steering wheel control system having a steering wheel, a magnetorheological damper in communication with the steering wheel and a road wheel control system operably connected to the magnetorheological damper where the magnetorheological damper controls the steering wheel in response to a torque signal from the road wheel control system.

Abstract translation: 本发明的一个方面涉及一种汽车方向盘控制系统，其具有方向盘，与方向盘连通的磁流变阻尼器和可操作地连接到磁流变阻尼器的路轮控制系统，其中磁流变阻尼器响应于 来自车轮控制系统的扭矩信号。

公开(公告)号：US06718243B1

公开(公告)日：2004-04-06

申请号：US10341000

申请日：2003-01-13

Applicant: Yixin Yao ,  Gregory J. Stout

Inventor： Yixin Yao ,  Gregory J. Stout

IPC: B62D504

CPC classification number: B62D5/001 ,  B62D5/006 ,  B62D6/002 ,  B62D6/008

Abstract: The present invention involves a method of controlling a vehicle steer-by-wire system having two independent road wheels. In one embodiment, the method comprises providing a steering wheel control sub-system to generate road wheel reference angles and to produce steering feel for a vehicle driver. The method further includes providing a road wheel control sub-system including a road wheel controlled plant and a road wheel controller for controlling actual road wheel angles to track to road wheel reference angles. Moreover, the method includes applying road wheel angles and angular rates as feedback signals to implement the left and right road wheel angles tracking for left and right road wheel reference angles in the road wheel control system with servo control system structure. The method further includes implementing a gain scheduling control in the road wheel controller to compensate the gain change of the controlled road wheel plant for overcoming non-linearity of the road wheel system, The present invention also involves a system of controlling a vehicle steer-by-wire system applying gain scheduling.

Abstract translation: 本发明涉及一种控制具有两个独立车轮的车辆线控系统的方法。 在一个实施例中，该方法包括提供方向盘控制子系统以产生车轮参考角度并产生车辆驾驶员的转向感觉。 该方法还包括提供包括车轮控制设备和用于控制实际的车轮角度以跟踪到车轮参考角度的车轮控制器的车轮控制子系统。 此外，该方法包括将车轮角度和角速度作为反馈信号，以在具有伺服控制系统结构的车轮控制系统中实现用于左右车轮参考角的左右车轮角度跟踪。 该方法还包括在车轮控制器中实现增益调度控制，以补偿控制车轮车间的增益变化，以克服道路车轮系统的非线性。本发明还涉及一种控制车辆转向系统 - 线系统应用增益调度。