mwirth-epo/epo-nmt-datasets huggingface dataset:
另外，作为传感器的种类，有湿度传感器、接近传感器、压敏传感器、加速度传感器、水平传感器、应变传感器、热电传感器等，没有特别限定。
The kind of the sensor is not particularly limited, and the sensor may be a humidity sensor, a proximity sensor, a pressure sensor, an acceleration sensor, a level sensor, a strain sensor, a pyroelectric sensor, or the like.
在传感器元件中，第1电极与第2电极对置而夹持检测膜的区域例如在静电电容式传感器中作为电容器发挥作用。
In the sensor element, a region where the first electrode and the second electrode face each other and sandwich the detection film acts as the capacitor in a capacitance sensor, for example.
如果将电容器区域的介电常数设为ε(F/m)，将面积设为S(m2)，将膜厚设为d(m)，则作为电容器发挥作用的区域(以下，也称为“电容器区域”)的静电电容C(F)满足下式。
A capacitance C (F) of the region acting as a capacitor (hereinafter, also referred to as a “capacitor region”) satisfies the following expression, in which a dielectric constant of the capacitor region is represented as ε (F/m), its area is represented as S (m2), and film thickness is represented as d (m).
根据上述式，静电电容C(F)根据电容器区域的介电常数ε(F/m)而发生变化。
In the above expression, the capacitance C (F) changes according to the dielectric constant ε (F/m) of the capacitor region.
例如，湿度传感器(也简称为“传感器”)中使用的感湿膜(也称为“检测膜”)根据周围气氛对水分进行解吸和吸附，因此根据水分的吸附量，电容器区域的介电常数ε(F/m)发生变化，所检测的静电电容C(F)也发生变化。
For example, since a moisture-sensitive film (also referred to as a “detection film”) used in a humidity sensor (also simply referred to as a “sensor”) adsorbs and desorbs moisture according to the ambient atmosphere, the dielectric constant ε (F/m) of the capacitor region changes according to the amount of adsorbed moisture, and the detected capacitance C (F) also changes.
因此，在湿度传感器中，通过检测电容器区域的静电电容C(F)的变化，能够算出周围气氛的湿度。
Therefore, the humidity sensor can calculate the humidity of the ambient atmosphere by detecting changes in the capacitance C (F) in the capacitor region.
以下，有时将电容器区域的静电电容简称为“静电电容”。
Hereinafter, the capacitance of the capacitor region is sometimes simply referred to as “capacitance”.
在湿度传感器中，即使使周围气氛的条件为一定，所测定的静电电容也经时变化，有时耐久性降低。
In a humidity sensor, even if the ambient atmosphere conditions are constant, the measured capacitance may change over time, and durability may deteriorate.
本发明人等查明其原因之一是耐磨损性的降低。
The present inventors have found that one of the causes of this is a deterioration in wear resistance.
另外，不限于湿度传感器，在具有在电极间夹持检测膜的传感器元件的传感器中，在传感器为挠性的情况下，也预测耐久性的降低显著。
Further, not only humidity sensors but any sensor having a sensor element sandwiching a detection film between electrodes is expected to exhibit a substantial deterioration in durability when the sensor is flexible.
这是因为预测根据对传感器施加弯曲的力的频率，对传感器元件的各层施加摩擦力的频率也提高。
This is because it is expected that the frequency with which a frictional force applied to each layer of the sensor element increases according to the frequency with which a bending force is applied to the sensor.
本发明人等进一步反复深入研究，发现通过制成包含在检测膜的第1表面的与第1电极接触的部分具有微小凹凸的粗糙面(以下，也称为“第1粗糙面”)的构成，可得到具有良好的耐久性的传感器，从而完成了本发明。
The present inventors conducted further diligent studies and found that a sensor having good durability can be obtained by employing a configuration including a rough surface having fine irregularities (hereinafter, also referred to as a “first rough surface”) in a portion that is in contact with the first electrode on the first surface of the detection film, thereby completing the present invention.
特别是在静电电容式传感器中，发现通过设置第1粗糙面和后述的第2粗糙面中的至少一者，能够抑制使周围气氛的条件为一定时的静电电容的经时变化。
In particular, the present inventors found that in a capacitance type sensor, by providing at least one of the first rough surface and a second rough surface to be described later, it is possible to suppress changes over time in the capacitance when the ambient atmosphere conditions are constant.
静电电容的经时变化例如可以通过利用以下的方法测定静电电容保持率来评价。
The change over time in capacitance can be evaluated, for example, by measuring the capacitance retention rate by the following method.
首先，将湿度传感器的试件在常温常湿(例如，温度20±15℃左右且相对湿度40～60％RH左右)的环境下静置进行调湿，利用市售的电容表测定静电电容。
First, a humidity sensor test piece is conditioned by leaving it to stand in an ordinary temperature and ordinary humidity (for example, temperature of about 20±15° C. and relative humidity of about 40 to 60% RH) environment, and the capacitance is measured with a commercially available capacitance meter.
接下来，对湿度传感器的试件进行后述的耐磨损试验，将耐磨损试验后的湿度传感器在与上述相同的常温常湿的环境下同样地调湿，测定静电电容。
This capacitance is taken as an initial capacitance Co. Next, the humidity sensor test piece is subjected to a wear resistance test to be described later, the humidity sensor after the wear resistance test is similarly conditioned in the same ordinary temperature and ordinary humidity environment, and the capacitance is measured.
将该静电电容设为静电电容C1。
This capacitance is taken as a capacitance C1.
使用这些静电电容，基于下述式算出静电电容保持率(％)。
Using these capacitances, the capacitance retention rate (%) is calculated based on the following expression.
应予说明，在后述的实施例中，在温度30℃且相对湿度60％RH的气氛下进行约1小时调湿。
In the examples described below, the conditioning was carried out for about 1 hour under an atmosphere having a temperature of 30° C. and a relative humidity of 60% RH.
静电电容保持率(％)＝(C1/C0)×100
Capacitance retention rate (%)=(C1/C0)×100
静电电容保持率优选为50％以上，更优选为60％以上，进一步优选为70％以上，更进一步优选为80％以上。
The capacitance retention rate is preferably 50% or more, and more preferably 60% or more, further preferably 70% or more, and especially preferably 80% or more.
如果静电电容保持率为上述范围，则存在抑制静电电容的经时变化的趋势。
If the capacitance retention rate is in the above range, change over time in the capacitance tends to be suppressed.
对湿度传感器的试件进行的耐磨损试验可以通过以下的方法进行。
The wear resistance test performed on the humidity sensor test piece can be performed by the following method.
参照图3(h)，利用市售的摩擦磨损试验机对湿度传感器的试件的上部电极34表面的以区域34a为中心的1cm宽度×2cm的长度的区域进行磨损试验。
As illustrated in FIG. 3( h), the wear test is carried out with a commercially available friction wear tester on a region 1 cm wide×2 cm long of the humidity sensor test piece centered on the region 34 aof the surface of the upper electrode 34.
试验通过在装置的接触端子与上部电极的接触面载置市售的无纺布擦布，将移动速度和垂直负载设定为期望的条件，使接触端子往复而进行。
The test is carried out by placing a commercially available non-woven fabric wiper on a contact surface between the contact terminal of the instrument and the upper electrode, setting the movement speed and the vertical load to the desired conditions, and moving the contact terminal back and forth.
在后述的实施例中，使用新东科学株式会社制的“TribogearTYPE38”作为摩擦磨损试验机，在移动速度1600mm/分钟和垂直负载30g的条件下使接触端子往复100次。
In the examples described below, a “Tribogear TYPE 38” manufactured by Shinto Scientific Co., Ltd. is used as the friction wear tester, and the contact terminal is moved back and forth 100 times under conditions of a moving speed of 1600 mm/min and a vertical load of 30 g.
检测膜可以包含在其第1表面的与第1电极接触的部分具有微小凹凸的第1粗糙面。
The detection film may include a first rough surface having fine irregularities in a portion that is in contact with the first electrode on the first surface.
从提高耐磨损性的观点考虑，检测膜的第1表面的第1粗糙面的微小凹凸的均方根粗糙度(Sq)优选为0.3μm～3.0μm，更优选为0.5μm～2.5μm，进一步优选为0.6μm～1.5μm。
From the viewpoint of improving wear resistance, the fine irregularities of the first rough surface on the first surface of the detection film have a root mean square roughness (Sq) of preferably 0.3 μm to 3.0 μm, more preferably 0.5 μm to 2.5 μm, and further preferably 0.6 μm to 1.5 μm.
均方根粗糙度(Sq)是将JIS B 0601中记载的二维轮廓曲线的均方根粗糙度(Rq)三维扩张而得的。
The root mean square roughness (Sq) is a three-dimensional extension of the root mean square roughness (Rq) of the two-dimensional contour curve described in JIS B 0601.
推测通过制成在检测膜的第1表面的与第1电极接触的部分具有上述第1粗糙面的构成，能够提高传感器的耐磨损性，结果能够提高耐久性。
By employing a configuration having the first rough surface in a portion that is in contact with the first electrode on the first surface of the detection film, it is presumed that the wear resistance of the sensor can be improved, and as a result, durability can be improved.
应予说明，传感器的检测膜具有上述第1粗糙面时，也可以在传感器中的第1电极的与检测膜相反的一侧的表面具有后述的第2粗糙面。
In the case that the detection film of the sensor has the first rough surface, the detection film may also have a second rough surface to be described later on the surface of the detection film opposite to the first electrode in the sensor.
检测膜的第1表面的第1粗糙面如果包含与第1电极接触的部分，则可以为第1表面的整体，也可以为第1表面的一部分。
The first rough surface on the first surface of the detection film may be the entire first surface or a part of the first surface, as long as it includes a portion that is in contact with the first electrode.
第1粗糙面优选包含电容器区域，优选包含电容器区域的50％以上，更优选包含电容器区域的100％。
It is preferable that the first rough surface includes the capacitor region, preferably 50% or more of the capacitor region, and more preferably 100% of the capacitor region.
对于检测膜的第2表面的与第2电极接触的部分，也与第1表面的与第1电极接触的部分同样地可以制成包含具有微小凹凸的粗糙面(以下，也称为“第3粗糙面”)的构成。
Similar to the portion that is in contact with the first electrode on the first surface, a portion that is in contact with the second electrode on the second surface of the detection film may also be configured to include a rough surface having fine irregularities (hereinafter, also referred to as a “third rough surface”).
通过制成这样的构成，能够得到传感器的更良好的耐久性。
With such a configuration, better durability of the sensor can be obtained.
另外，在静电电容式的传感器中，能够进一步抑制静电电容的经时变化。
Further, for a capacitance type sensor, it is possible to further suppress changes over time in the capacitance.
检测膜的第2表面的第3粗糙面的微小凹凸的均方根粗糙度(Sq)优选为0.3μm～3.0μm，更优选为0.5μm～2.5μm，进一步优选为0.6μm～1.5μm。
The fine irregularities of the third rough surface on the second surface of the detection film have a root mean square roughness (Sq) of preferably 0.3 μm to 3.0 μm, more preferably 0.5 μm to 2.5 μm, and further preferably 0.6 μm to 1.5 μm.
在检测膜中，上述的第1粗糙面和第3粗糙面的形成没有特别限定，可采用公知的方法。
In the detection film, the method for forming the first rough surface and the third rough surface described above are not particularly limited, and a known method is employed.
例如，可举出通过喷砂处理，液体珩磨处理，抛光研磨，利用研磨片(抛光膜等)的研磨等机械研磨等对表面进行研磨的方法。
Examples thereof include a method of abrading the surface by sandblasting, liquid honing, buffing, mechanical abrasion as abrading with an abrasive sheet (lapping film, etc.), and the like.
或者，在形成检测膜时，也可以形成具有第1粗糙面、第3粗糙面的检测膜。
Alternatively, when forming the detection film, a detection film having the first rough surface and the third rough surface may be formed.
具体而言，可举出在形成检测膜时对粗糙面进行转印的方法、向检测膜的形成中使用的组合物添加微粒并使微粒从表面突出而形成粗糙面的方法等。
Specifically, for example, when forming the detection film, a method in which the rough surfaces are transferred or a method in which the rough surfaces are formed by adding fine particles to a composition to be used to form the detection film and projecting the fine particles from the surface may be employed.
检测膜可以通过使用包含树脂组合物和溶剂的溶液的溶液浇铸法、熔融挤出法等公知的方法来形成。
The detection film can be formed by a known method, such as a solution casting method using a solution including a resin composition and a solvent, and a melt extrusion method.
作为涂布方法，可以采用旋涂法、丝网印刷法、喷墨印刷法、浸涂法、气刀涂布法、辊涂法、凹版涂布法、刮刀涂布法等公知的涂布方法。
As an application method, a known application method may be employed, such as a spin coating method, a screen printing method, an inkjet printing method, a dip coating method, an air knife coating method, a roll coating method, a gravure coating method, or a blade coating method.
检测膜的平均厚度优选为0.3μm以上，可以为0.5μm以上，另外，可以为90μm以下，也可以为50μm以下，优选为10μm以下，更优选为3μm以下，进一步优选为1μm以下。
The detection film preferably has an average thickness of 0.3 μm or more, and may be 0.5 μm or more, and may be 90 μm or less, may be 50 μm or less, is preferably 10 μm or less, more preferably 3 μm or less, and further preferably 1 μm or less.
检测膜由树脂组合物形成。
The detection film is formed from a resin composition.
树脂组合物包含树脂，还可以包含抗氧化剂、阻燃剂、增塑剂、紫外线吸收剂等添加剂等。
The resin composition contains a resin, and may also include additives such as an antioxidant, a flame retardant, a plasticizer, and an ultraviolet absorber.
作为形成检测膜的树脂，没有特别限定。
The resin forming the detection film is not particularly limited.
检测膜为感湿膜时，作为树脂，只要是能够吸附解吸水分的树脂就没有限定，可例示聚酰亚胺树脂、纤维素树脂、聚乙烯醇树脂等，从具有优异的耐久性的观点考虑，优选聚酰亚胺树脂。
When the detection film is a moisture-sensitive film, the resin is not limited as long as it is a resin capable of adsorbing and desorbing moisture.
聚酰亚胺树脂成分包含1种以上的聚酰亚胺树脂，优选至少包含氟化聚酰亚胺树脂。
Examples thereof include a polyimide resin, a cellulose resin, and a polyvinyl alcohol resin.
这里，树脂组合物所含有的聚酰亚胺树脂成分是指树脂组合物中所含的聚酰亚胺树脂。
From the viewpoint of having excellent durability, a polyimide resin is preferable.
即，聚酰亚胺树脂成分包含1种聚酰亚胺树脂时，树脂组合物所含有的聚酰亚胺树脂成分是指该1种聚酰亚胺树脂，聚酰亚胺树脂成分包含2种以上的聚酰亚胺树脂时，树脂组合物所含有的聚酰亚胺树脂成分是指该2种以上的聚酰亚胺树脂。
The content of the polyimide resin component in the resin composition is, based on the total amount of the resin composition, preferably 90% by mass or more, more preferably 95% by mass or more, further preferably 98% by mass or more, and may be 100% by mass.
用于摩擦估计的车辆和转向基本系统条件、以及所得的转向数据测试可以满足以下标准中的一个或多个，以确保仅当条件适当时才能进行估计：
The underlying vehicle and steering system conditions for friction estimation, and resulting steering data tests may meet one or more of the following criteria to ensure that estimates are only when conditions are appropriate:
该设备可以包括存储估计的摩擦值的存储器。
The apparatus may include a memory which stores the estimated friction value.
摩擦估计器可以包括摩擦估计管理器，所述摩擦估计管理器产生指示所估计的摩擦值的置信度的置信度值。
The friction estimator may include a friction estimate manager which generates a confidence value indicative of the confidence in the estimated friction value.
摩擦估计器通过将固定摩擦补偿转矩水平与适配摩擦补偿转矩水平混合可以产生摩擦补偿转矩水平，其中，所述固定摩擦补偿转矩水平表示固定值，而所述适配摩擦补偿转矩水平是所述摩擦估计的函数。
The friction estimator may generate the friction compensation torque level by blending a fixed friction compensation torque level with an adaptive friction compensation torque level, where the fixed friction compensation torque level represents a fixed value and the adaptive friction compensation torque level is a function of the friction estimate.
摩擦估计器可以确定所述两个水平混合的比率，所述比率是摩擦估计的置信度值的函数。
The friction estimator may determine a ratio at which the two levels are blended which is a function of the confidence value of the friction estimate.
摩擦估计器可以将两个水平混合，使得当所述估计中几乎没有置信度或没有置信度时，所述混合完全或主要由所述固定摩擦补偿转矩水平构成。
The friction estimator may blend the two levels so that the blend entirely or predominantly consists of the fixed friction compensation torque level when there is little or no confidence in the estimate.
当摩擦估计的置信度超过置信度的阈值水平时，例如80％或更高的置信度，混合可以产生摩擦补偿转矩水平，所述摩擦补偿转矩水平主要或仅根据适配摩擦补偿转矩水平而变。
When confidence of the estimate of friction exceeds a threshold level of confidence, for instance a confidence of 80 percent or higher, the blend may produce a friction compensation torque level that is primarily or solely as a function of the adaptive friction compensation torque level.
摩擦估计管理器可以产生两个与所述摩擦估计相关联的置信值，一个是长期置信度值，所述长期置信度值指示在第一时间段内所述摩擦估计的置信度水平，另一个是短期置信度值，所述短期置信度值指示在较短的第二时间段内所述摩擦估计的置信度水平，所述短期置信度值是根据一个或多个最近的摩擦估计产生的，而所述长期置信度值是取决于其中权重是可调参数的短期置信度值的值而设定的。
The friction estimate manager may generate two confidence values associated with the friction estimate, one being a long term confidence value indicative of a level of confidence in the friction estimate over a first period of time and the other a short term confidence value indicative of a level of confidence in the friction estimate over a second, shorter, period of time, the short term confidence value being generated from one or more recent estimates of friction and the long term confidence value being set dependent on the value of the short term confidence value where the weight is a tunable parameter.
摩擦估计管理器可以产生长期置信度值，每当在该时间段内没有更新短期置信度值，长期置信度值就会在一段时间内随时间从高置信度值衰减到低置信度值。
The friction estimate manager may generate a long term confidence value that decays over time from a high confidence value to a low confidence value over a period of time whenever the short term confidence value has not been updated in that period of time.
在没有任何更新的摩擦估计的情况下，摩擦估计管理器可以使长期置信度朝向0％衰减，并且在没有更新的摩擦估计的情况下，使短期估计值朝向长期估计值衰减。
The friction estimate manager may cause the long term confidence to decay towards 0% in the absence of any updated friction estimate and to cause the short term estimate to decay towards the long term estimate in the absence of an updated friction estimate.
可替代地，在权重是可调参数的情况下，摩擦估计管理器可以使短期置信度值朝向长期置信度的加权版本衰减。
Alternatively, the friction estimate manager may cause the short term confidence value to decay towards a weighted version of the long term confidence where the weight is a tunable parameter.
设定混合时，可以使用短期置信度值。
The short term confidence value may be used when setting the blend.
在转向设备与正被驾驶的车辆一起使用时，摩擦估计管理器可以使用第一策略来更新一个或多个置信度估计值，而在停放车辆并且转向设备未活动时，摩擦估计管理器可以使用第二策略来更新一个或多个置信度估计值。
The friction estimate manager may update the confidence estimate or estimates using a first strategy when the steering apparatus is in use with the vehicle being driven, and a second strategy when the vehicle is parked and the steering apparatus is inactive.
可以通过车辆点火被打开来识别在使用中，并且可以通过车辆点火被关闭来识别停车。
In use may be identified by the vehicle ignition being switched on, and parked may be identified by the vehicle ignition being switched off.
在系统中留一些摩擦可能是有益的，以便不完全补偿，以获得更自然的转向感。
It may be beneficial to leave some friction in the system, and so to not fully compensate, in order to give a more natural steering feel.
第二处理器件可以根据目标摩擦和估计摩擦两者设定第二信号处理电路产生的摩擦补偿转矩信号。
The second processing means may set the friction compensating torque signal generated by the second signal processing circuit as a function of both a target friction and the estimated friction.
第二处理器件可以根据目标摩擦与估计摩擦之间的差异来适配摩擦补偿转矩信号。
It may adapt the friction compensating torque signal as a function of the difference between the target and the estimated friction.
设备可以将摩擦补偿转矩分量与固定摩擦补偿转矩分量混合。
The apparatus may blend the friction compensating torque component with a fixed friction compensating torque component.
本发明的一个关键方面是使用实际摩擦估计，这样可以洞悉系统中的摩擦随时间的变化以及对这些估计中的置信度进行管理。
A key aspect of the disclosure is the use of actual friction estimates which give an insight into changes in friction in the system over time and the management of the confidence in those estimates.
转矩需求信号发生电路可以被布置为通过将摩擦补偿转矩信号与辅助转矩信号求和来产生转矩需求信号。
The torque demand signal generating circuit may be arranged to produce the torque demand signal by summing the friction compensating torque signal with the assistance torque signal.
为了确保摩擦补偿转矩信号在直线行驶时和弯道行驶时均对转向方向的所有变化做出反应，并且为了确保该反应与柱转矩的变化成比例，第二信号处理电路可以被布置为以与驾驶信号的变化成比例的方式来改变第一分量和第二分量中的每一个分量。
To ensure that the friction compensating torque signal reacts to all changes in steering direction, both whilst travelling straight and whilst in a curve, and to ensure that the reaction is proportionate to changes in column torque, the second signal processing circuit may be arranged to vary each of the first component and the second component in a fashion proportional to the changes in the driving signals.
因此，第一分量和第二分量可以以与时间无关的、而是仅与基本驱动信号有关的方式改变。
The first and second components may therefore vary in a manner which is not related to time, only to changes in the underlying drive signals.
驾驶信号指的是柱转矩信号或柱角度信号。
By drive signal we mean the column torque signal or the column angle signal.
因此，第一分量可以取决于累积柱转矩信号，累积柱转矩信号具有从柱转矩信号的历史观察值中推导出的值。
The first component may therefore be dependent on an accumulated column torque signal which has a value that is derived from historically observed values of the column torque signal.
同样，第二分量可以取决于累积柱角度信号，累积柱角度信号具有从柱角度信号的历史观察值中推导出的值。
Similarly, the second component may be dependent on an accumulated column angle signal which has a value that is derived from historically observed values of the column angle signal.
第二信号处理电路可以产生的累积柱转矩信号的值在-N到+N的范围内，对于柱转矩信号的持续增大，所述值饱和于+N，对于柱转矩信号的持续减小，所述值饱和于-N，并且所述值在-N到+N的范围内呈成比例的方式，从而跟踪柱转矩信号的所有变化。
An accumulated column torque signal may be generated by the second processing circuit with a value in a range −N to +N, the value saturating at +N for a sustained increase in the column torque signal, saturating at −N for a sustained decrease in the column torque signal, and behaving in a proportional fashion over the range −N to +N, tracking all changes in the column torque signal.
N的值可以是任何正数，并且通常方便地被设定为N＝1。
The value of N may be any positive number, and is most conveniently set as N=1.
只要柱转矩信号增大，第一分量的值就可以与增大的柱转矩信号成比例地增大，直到幅度达到上限+N，并且然后只要柱转矩信号不减小，第一分量的值就将保持在该上限，并且第一分量的值与减小的柱转矩信号成比例地减小，直到幅度达到下限-N，并且然后只要柱转矩信号不增大，第一分量的值就将保持在该下限。
The first component may have a value that increases in proportion to an increasing column torque signal for as long as the column torque signal is increasing until the magnitude reaches the upper limit +N, and will then remain at that upper limit for so long as the column torque signal does not decrease, and which decreases in proportion to a decreasing column torque signal until the magnitude reaches the lower limit −N, and will then remain at that lower limit for so long as the column torque signal does not increase.
第一分量没有复位值，只要柱转矩信号值持续一段时间保持为任意值，该第一分量就保持其最后值。
The first component has no rest value it will retain its last value for so long as the column torque signal value rests at any value for a period of time.
第二分量也可以以相同的方式改变，但是根据柱角位置信号而不是柱转矩信号的累积变化而变化。
The second component may also vary in the same way, but as a function of the accumulated change in the column angular position signal rather than the column torque signal.
因此，第二分量的值可以在下限-M与上限+M之间的范围内，所述值与增大的柱位置成比例地增大，直到幅度达到所述上限+M，并且只要柱位置信号不减小，所述值就保持在该上限，并且所述值与减小的柱位置成比例地减小，直到幅度达到所述下限，然后只要柱位置不增大，所述值就将保持在该下限，第二分量的值没有复位值，并且在所述柱停止旋转时保持最后值。
Thus, the second component may have a value in a range between a lower limit −M and an upper limit +M, the value increasing in proportion to an increasing column position until the magnitude reaches the upper limit +M, and remaining at that upper limit for so long as the column position signal does not decrease, and which decreases in proportion to a decreasing column position until the magnitude reaches the lower limit, and will then remain at that lower limit for so long as the column position does not increase, the value of the second component having no rest value, and retaining the last value when the column stops rotating.
M的值可以是任何正数，并且通常方便地设定为M＝1。
The value of M may be any positive number, and is most conveniently set as M=1.
申请人已经意识到，成比例响应是最优选的，因为成比例响应使得能够以对驾驶员的打扰最小的方式引入静摩擦补偿值。
The applicant has appreciated that a proportional response is most preferred as it enables the static friction compensation value to be introduced in a manner that is least intrusive to the driver.
摩擦补偿因子的响应与驾驶信号的改变成比例。
The response of the friction compensation factor being in proportion to the change of the driving signals.
在一种方便的布置中，第二信号处理电路可以被布置为通过产生缩放差异以及其后的有限积分器来产生两个分量中的每个分量。
In one convenient arrangement, the second signal processing circuit may be arranged to produce each of the two components by generating a scaled difference followed by a limited integrator.
可以通过观察驾驶信号(转矩或柱角度)的后续时间采样之间的差异，然后通过对该差异缩放1/极限倍以形成信号“缩放δ”(即，输入信号的微分以及其后的缩放)来形成缩放差异。
The scaled difference may be formed by observing the difference between subsequent time samples of the driving signal (torque or column angle) and then scaling them by a factor 1/limit to form a signal ‘scaled delta’, i.e. differentiation of the input signal followed by scaling.
有限积分器可以对信号“缩放δ”进行累积求和，从而将求和限制在-N至+N或-M至+M的范围内，以给出所需的在这些极限的饱和。
The limited integrator may then cumulatively summate the signal ‘scaled delta’, limiting the summation to the range −N to +N or −M to +M to give the required saturation at the limits, The required component is the output from the limited integrator.
可以选择缩放，使得所得积分具有范围+/-1，但也可以不缩放，并且得到+/-极限的范围。
The scaling may be chosen so that the resulting integration has range +/−1 but it is also possible to have no scaling and a resulting +/−limit range.
在本发明的范围内其他变型是可能的。
Other variants are possible within the scope of the disclosure.
所述两个分量中的每个分量的上限和下限，+/-M和+/-N，可以被设定为等于+1和-1，并且第二信号处理电路可以被布置为将两个分量与一些额外的缩放进行组合，以给出也在+1到-1的范围内的摩擦补偿因子，如上所述，在一种布置中，所述摩擦补偿因子可以使用以下形式的等式确定：
The upper limit and the lower limit of each of the two components, +/−M an +/−N may be set to be equal to +1 and −1 and the second signal processing circuit may be arranged to combine the two components with some additional scaling to give a friction compensation factor that is also in the range +1 to −1 which, as noted above, may in one arrangement be determined using an equation of the form:
摩擦补偿因子＝X*累积柱角度+Y*累积柱转矩
Friction compensation factor = X*Accumulated column angle+ Y*Accumulated column torque
其中，X和Y是缩放因子。
where X and Y are scaling factors.