CN101962036A - Angle signal-based electric power steering control method - Google Patents
Angle signal-based electric power steering control method Download PDFInfo
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- CN101962036A CN101962036A CN2010102856704A CN201010285670A CN101962036A CN 101962036 A CN101962036 A CN 101962036A CN 2010102856704 A CN2010102856704 A CN 2010102856704A CN 201010285670 A CN201010285670 A CN 201010285670A CN 101962036 A CN101962036 A CN 101962036A
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Abstract
The invention provides an angle signal-based electric power steering control method. On the basis that basic assisted motor current applied during the conventional electric power steering is based on torque and speed, angle is used as a third parameter of the basic assisted current to ensure that the basic assisted current changes along with changes of the torque, the speed and the angle. The method can solve the problem that a vehicle has different torques of the steering wheel under different steering angles, so the torques at different angles are uniform, and the operation sense becomes better.
Description
Technical field
The present invention relates to a kind of electric power-assisted steering control method based on angle signal.
Background technology
As everyone knows, in Vehicular turn, direction machine intermediate rod push-and-pull track arm produces tyre rotation, changes the travel direction of automobile.But this push-and-pull is stressed to be pure triangular relationship, and track arm forwards diverse location to, different in other words angles, the length of resistance arm is all changing, and that is to say, even turn to friction moment constant between tire and the road surface, after resistance arm changed, resistance just changed.This just causes nearly all vehicle, and when bearing circle turned to different angles, the push-pull effort of intermediate rod took place significantly to change.Especially when pivot stud, a lot of vehicle tyres are when forwarding the maximum angle position to, and this power is tire several times when midway location.If pure manual steering gear owing to there is not power-assisted, must cause bearing circle several times of different angles torque differences.If hydraulic power steering gear, because its power-assisted curve is very precipitous, the variation of this several times power is weakened, and the moment that passes on the bearing circle is general relatively evenly.Adopt after the electric power steering, though that it has is energy-conservation, many advantages such as the meticulous control of each speed of a motor vehicle, owing to there is not the damping of hydraulic oil, the curve that its power-assisted curve can not resemble hydraulic booster is so precipitous.Though, the power-assisted slope of a curve can be accomplished about 8, but well below the hydraulic booster slope of a curve by the motor angle feedback.On the basis of the intrinsic low slope power-assisted curve of electric power steering itself, existing control algorithm must cause bearing circle not of uniform size in different angle moment.Its major cause is current of electric that existing electric power steering applies auxiliary torque in other words, the function that all is based on steering wheel torque and two parameters of the speed of a motor vehicle that its control method relies on, but in the time of different steering angle, the phenomenon that the steering torque weight differs does not solve.After increasing the steering wheel angle signal, though existing control method based on angle signal has proposed the various motor compensating current algorithms based on angle signal, basically all be after considering that angle signal increases, how carrying out active returns and just to compensate, damping compensation, the motor inertia compensation, various compensation methodes such as friciton compensation.These compensation all are the dynamic properties that turns in order to improve, all be on power-assisted substantially basis, to do some small adjustment, its electric current is generally smaller, just compensate as initiatively returning, its electric current generally has only the 2-3 ampere, and 50 even 80 amperes easily in basic power-assisted electric current, the basic power-assisted electric current that accounts for the current of electric overwhelming majority is that all angles all are the same always, and bearing circle moment weight depends on basic power-assisted electric current basically, so these compensation can't solve the problem that bearing circle moment differs under the different angles.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of electric power-assisted steering control method based on angle signal, can solve the vehicle phenomenon that bearing circle moment weight differs under different steering angles, makes that the moment of different angles is even, and operation sense is better.
For solving above-mentioned existing technical matters, the present invention adopts following scheme: a kind of electric power-assisted steering control method based on angle signal, on the basis of basic assist motor electric current that existing electric power steering applies based on moment of torsion and these two parameters of the speed of a motor vehicle, with three parameter of angle, make basic power-assisted electric current change along with the variation of moment of torsion, the speed of a motor vehicle, angle as basic power-assisted electric current.
As preferably, total motor power-assisted electric current is along with the bigger variation of difference generation amplitude of angle.
As preferably, the total external characteristics generation significant change of electric booster steering controller, fixing mouth moment of torsion, the function curve of measuring input shaft torque is along with the difference of angle obviously varies in size.
As preferably, be applicable to the electric boosted control of various band angle signals, do not influence enforcement because of the power-assisted of diverse location, dissimilar motor, dissimilar moment of torsion or angular transducer.
Beneficial effect:
The present invention adopts technique scheme that a kind of electric power-assisted steering control method based on angle signal is provided, and can solve the vehicle phenomenon that bearing circle moment weight differs under different steering angles, makes that the moment of different angles is even, and operation sense is better.
Description of drawings
Fig. 1 is a scheme drawing of the present invention;
Fig. 2 is not for adopting the function curve of angle parameter;
Fig. 3 is for adopting the function curve of angle parameter.
The specific embodiment
As shown in Figure 1, a kind of electric power-assisted steering control method based on angle signal, on the basis of basic assist motor electric current that existing electric power steering applies based on moment of torsion and these two parameters of the speed of a motor vehicle, with three parameter of angle, make basic power-assisted electric current change along with the variation of moment of torsion, the speed of a motor vehicle, angle as basic power-assisted electric current.After increasing its angle-dependence, become basic power-assisted electric current and depend on moment of torsion, three parameters of the speed of a motor vehicle and angle.Basic power-assisted electric current enquiry form becomes moment of torsion, the three-dimensional matrice of the speed of a motor vehicle and angle by the two-dimensional matrix of the original moment of torsion and the speed of a motor vehicle.Total motor power-assisted electric current is along with the bigger variation of difference generation amplitude of angle.The total external characteristics generation significant change of electric booster steering controller, fixing mouth moment of torsion, the function curve of measuring input shaft torque is along with the difference of angle obviously varies in size.Be applicable to the electric boosted control of various band angle signals, do not influence enforcement because of the power-assisted of diverse location, dissimilar motor, dissimilar moment of torsion or angular transducer.
Whether check has implemented the present invention, and the most direct method is exactly whether the total external characteristics of test controller significant change takes place, fixing mouth moment of torsion, and the function curve of measurement input shaft torque is along with whether the difference of angle obviously varies in size.
Do not implement to see Fig. 2 when of the present invention, function curve is the total external characteristics of electric booster steering controller, fixedly mouth moment of torsion or direction machine push-pull effort are constant, rotate input end (bearing circle), along with input end turns to different angles, the moment of torsion of input end is the same basically.
After implementing the present invention, see Fig. 3, significant change has taken place in the total external characteristics of whole electric booster steering controller, and same function curve will change along with the difference of angle, and the input end moment of torsion of different angles will be no longer identical.Under the representative type situation, the controller of implementing after the present invention and car load mate is little in the basic power-assisted of vehicle tyre linear position, and the basic power-assisted in wide-angle position is big, input torque is big near showing as the function curve zero degree, input torque is little near the wide-angle, and promptly high in the middle of the input torque, both sides are low.
The test equipment in addition that influences therefrom, existing checkout stand all has function test basically, input torque-current of electric curve, input torque-output torque curve, after implementing the present invention, the test method of these curves and physical meaning all will change, and test equipment also needs to upgrade thereupon.Through actual verification, on the controller that is applied to produce, the hand-power of bearing circle is even, and the performance of controller has obtained huge lifting.
Claims (4)
1. electric power-assisted steering control method based on angle signal, it is characterized in that: on the basis of basic assist motor electric current that existing electric power steering applies based on moment of torsion and these two parameters of the speed of a motor vehicle, with three parameter of angle, make basic power-assisted electric current change along with the variation of moment of torsion, the speed of a motor vehicle, angle as basic power-assisted electric current.
2. a kind of electric power-assisted steering control method based on angle signal according to claim 1 is characterized in that: total motor power-assisted electric current is along with the bigger variation of difference generation amplitude of angle.
3. a kind of electric power-assisted steering control method according to claim 1 based on angle signal, it is characterized in that: the total external characteristics generation significant change of electric booster steering controller, fixing mouth moment of torsion, the function curve of measuring input shaft torque is along with the difference of angle obviously varies in size.
4. a kind of electric power-assisted steering control method according to claim 3 based on angle signal, it is characterized in that: be applicable to the electric boosted control of various band angle signals, do not influence enforcement because of the power-assisted of diverse location, dissimilar motor, dissimilar moment of torsion or angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102856704A CN101962036A (en) | 2010-09-17 | 2010-09-17 | Angle signal-based electric power steering control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102856704A CN101962036A (en) | 2010-09-17 | 2010-09-17 | Angle signal-based electric power steering control method |
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| CN101962036A true CN101962036A (en) | 2011-02-02 |
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| CN2010102856704A Pending CN101962036A (en) | 2010-09-17 | 2010-09-17 | Angle signal-based electric power steering control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI722289B (en) * | 2018-06-07 | 2021-03-21 | 華創車電技術中心股份有限公司 | Motor vehicle steering control system and steering control method |
| CN113581281A (en) * | 2021-08-30 | 2021-11-02 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1572626A (en) * | 2003-05-28 | 2005-02-02 | 丰田自动车株式会社 | Vehicle steering control device for controlling steering assist torque |
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
| JP2007062584A (en) * | 2005-08-31 | 2007-03-15 | Showa Corp | Electric power steering device |
| JP2007296900A (en) * | 2006-04-28 | 2007-11-15 | Showa Corp | Electric power steering device |
| CN101734278A (en) * | 2009-12-29 | 2010-06-16 | 奇瑞汽车股份有限公司 | Electrical power steering system and control method thereof |
| CN101746407A (en) * | 2008-12-12 | 2010-06-23 | 上海格尔汽车附件有限公司 | Electronic power steering system with active aligning control function |
-
2010
- 2010-09-17 CN CN2010102856704A patent/CN101962036A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1572626A (en) * | 2003-05-28 | 2005-02-02 | 丰田自动车株式会社 | Vehicle steering control device for controlling steering assist torque |
| JP2007062584A (en) * | 2005-08-31 | 2007-03-15 | Showa Corp | Electric power steering device |
| JP2007296900A (en) * | 2006-04-28 | 2007-11-15 | Showa Corp | Electric power steering device |
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
| CN101746407A (en) * | 2008-12-12 | 2010-06-23 | 上海格尔汽车附件有限公司 | Electronic power steering system with active aligning control function |
| CN101734278A (en) * | 2009-12-29 | 2010-06-16 | 奇瑞汽车股份有限公司 | Electrical power steering system and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI722289B (en) * | 2018-06-07 | 2021-03-21 | 華創車電技術中心股份有限公司 | Motor vehicle steering control system and steering control method |
| CN113581281A (en) * | 2021-08-30 | 2021-11-02 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
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| C53 | Correction of patent of invention or patent application | ||
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Inventor after: Chen Xuefeng Inventor after: Xu Zhengqing Inventor before: Xu Zhengqing |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: XU ZHENGQING TO: CHEN XUEFENG XU ZHENGQING |
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Application publication date: 20110202 |