CN106915381B - Electric boosting steering system hard-over self-learning method - Google Patents
Electric boosting steering system hard-over self-learning method Download PDFInfo
- Publication number
- CN106915381B CN106915381B CN201511002802.7A CN201511002802A CN106915381B CN 106915381 B CN106915381 B CN 106915381B CN 201511002802 A CN201511002802 A CN 201511002802A CN 106915381 B CN106915381 B CN 106915381B
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- value
- updated
- limit
- threshold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a kind of electric boosting steering system hard-over self-learning methods, when including: the left/right ultimate angle value that steering wheel left/right gyration is more than default calibration, the steering wheel angle value of record this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, updated value is demarcated to record steering wheel angle value as left/right ultimate angle；When speed is greater than threshold speed, steering wheel left/right changes hands disk torque greater than torque threshold, and the duration is more than time threshold, the steering wheel angle value of record this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, updated value is demarcated using the steering wheel angle value of record as left/right ultimate angle；Method of the invention can re-scale electric boosting steering system hard-over, to improve the precision of rack gear end protection act, realize the real-time self study of electric boosting steering system hard-over.
Description
Technical field
The present invention relates to vehicle electric fields, more particularly to a kind of electric boosting steering system hard-over self study side
Method.
Background technique
Existing automobile electric booster steering system as shown in Figure 1, be by traditional mechanical steering system, including steering wheel 1,
Steering column 3, jackshaft 5, diverter 6, pinion gear 10, track rod 7, knuckle arm 9, deflecting roller 8 install rotation angular sensing additional
Device 2, torque sensor 11, electronic control unit 13, the composition such as steering assist motor 12 and its deceleration mechanism 4.Wherein, torque
Sensor is to detect pilot control torque；Assist motor is mountable on steering column or diverter, passes through deceleration mechanism
Assist torque is provided to driver；Torque sensor signal, steering wheel angle sensor signal and calculated rack displacement speed
Degree signal and vehicle speed sensor signal are input to the Torque Control module of electronic control unit, calculate corresponding assist torque,
It exports as target torque command to motor control module, controller exports electric current driving assist motor work.
As shown in Fig. 2, existing automobile electric booster steering system hard-over calibration is sentenced by rack-and-pinion stroke
It is disconnected.When offline test (EOL), the determination at limit on the left angle is to be demarcated the maximum angle of left steering by the steering wheel that turns left
For limit on the left angle；The determination at limit on the right-right-hand limit angle is that the maximum angle of right turn is demarcated as limit on the right-right-hand limit by the steering wheel that turns right
Angle.In existing hard-over scaling method one, different rack-and-pinion is needed to re-scale.Meanwhile working as steering structure
When carrying out maintenance replacement components, because of itself difference between component, it is also desirable to be finely adjusted again to the hard-over of calibration.
The prior art generally takes two ways 1. by the way of manually demarcating the calibration of steering system hard-over.It adopts
In this way, the first manpower is at high cost；Secondary need is demarcated by certain process, and production process is cumbersome；Third exists
Replace the associated components such as rack-and-pinion, it is also desirable to re-scale, maintenance cost is accused；In addition existing for existing motorcar electric power-assisted
Steering system hard-over scaling method is higher to the required precision of components, be easy to cause nominal data ductility inadequate.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of energy real-time perfoming electric boosting steering system hard-overs certainly
The method of study.
In order to solve the above technical problems, electric boosting steering system hard-over self-learning method provided by the invention, packet
It includes:
When steering wheel left-hand rotation angle is more than the limit on the left corner value of default calibration, steering wheel angle value this moment is recorded, when
When steering wheel return is just arrived within steering wheel update position thresholding, updated using recording steering wheel angle value and being demarcated as limit on the left corner
Value；Steering wheel updates position thresholding: when steering wheel returns to the position, updating the ultimate angle value of steering wheel or so；
When steering wheel right-hand rotation angle is more than the limit on the right-right-hand limit corner value of default calibration, steering wheel angle value this moment is recorded, when
When steering wheel return is just arrived within steering wheel update position thresholding, updated using recording steering wheel angle value and being demarcated as limit on the right-right-hand limit corner
Value；
When speed is greater than threshold speed, steering wheel left-hand rotation setting stick torque is greater than torque threshold, and the duration is more than the time
Threshold value records steering wheel angle value this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, with the side of record
Updated value is demarcated as limit on the left corner to disk corner value；
When speed is greater than threshold speed, steering wheel right-hand rotation setting stick torque is greater than torque threshold, and the duration is more than the time
Threshold value records steering wheel angle value this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, with the side of record
Updated value is demarcated as limit on the right-right-hand limit corner to disk corner value.
Wherein, threshold speed is 1kmph~3kmph, and torque threshold is 3Nm~6Nm, and time threshold is 2 seconds~5 seconds, side
Position gate, which is updated, to disk is limited to 360 degree~420 degree.
Wherein, preferred embodiment: threshold speed 3kmph, torque threshold 6Nm, time threshold are 5 seconds, and steering wheel updates
Position gate is limited to 400 degree.
Electric boosting steering system hard-over self-learning method of the invention learns to demarcate automatically to Derivative limit on the left or on the right corner,
It include " newly-generated hard-over " be less than " hard-over learnt " be named as " to small " study with it is " newly-generated
Hard-over " is greater than " hard-over learnt " and is named as two parts of study " to big ".When actual steering operation is full
When sufficient hard-over self study condition, current steering angle is recorded as Derivative limit on the left or on the right corner, when steering wheel return gets to definition
Threshold angle (preventing the repetitive learning within a steering period) within, just by the angle recorded before be stored in memory space,
Nominal data as hard-over.When rack-and-pinion has differences, and the data demarcated before not can reflect this difference
It is different, ultimate angle can be re-scaled by means of the present invention, to improve the precision of rack gear end protection act, realize electricity
The dynamic real-time self study of servo steering system hard-over.
Detailed description of the invention
Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
Fig. 1 is automobile electric booster steering system structural schematic diagram.
Fig. 2 is diverter structure schematic diagram.
Fig. 3 is the present invention " to big " corner self study logical schematic, and the elongated corner of display steering gear rack is learnt by oneself
It practises.
Fig. 4 is " to small " corner self study logical schematic of the invention, and the corner that display steering gear rack shortens is learnt by oneself
It practises.
Fig. 5 is algorithm logic schematic diagram of the invention.
Specific embodiment
As shown in figure 5, electric boosting steering system hard-over self-learning method provided by the invention, comprising:
" to big " (rack gear is elongated) learns left-hand rotation angle extreme value, and steering wheel left-hand rotation angle is more than the limit on the left corner of default calibration
When value, record steering wheel angle value this moment, when steering wheel return just arrive steering wheel update position thresholding RESPositon_Thre with
When interior, updated value is demarcated to record steering wheel angle value as limit on the left corner；
RESP_Angle is former steering system hard-over；
" to big " (rack gear is elongated) learns right turn angle extreme value, and steering wheel right-hand rotation angle is more than the limit on the right-right-hand limit corner of default calibration
When value, record steering wheel angle value this moment, when steering wheel return just arrive steering wheel update position thresholding RESPositon_Thre with
When interior, updated value is demarcated to record steering wheel angle value as limit on the right-right-hand limit corner；
" to small " (rack gear shortens) learns left-hand rotation angle extreme value, when speed is greater than threshold speed VS_Thre, steering wheel left-hand rotation hand
Disk torque is greater than torque threshold ST_MaxLimit, and the duration is more than time threshold ST_TimeLimit, records side this moment
To disk corner value, when steering wheel return, which just arrives steering wheel, to be updated within position thresholding RESPositon_Thre, with the direction of record
Disk corner value demarcates updated value as limit on the left corner；
" to small " (rack gear shortens) learns right turn angle extreme value, when speed is greater than threshold speed VS_Thre, steering wheel right-hand rotation hand
Disk torque is greater than torque threshold ST_MaxLimit, and the duration is more than time threshold ST_TimeLimit, records side this moment
To disk corner value, when steering wheel return, which just arrives steering wheel, to be updated within position thresholding RESPositon_Thre, with the direction of record
Disk corner value demarcates updated value as limit on the right-right-hand limit corner.
Wherein, threshold speed be 1kmph~3kmph (preferably 3kmph), torque threshold be 3Nm~6Nm (preferably
6Nm), time threshold is 2 seconds~5 seconds (preferably 5 seconds), and steering wheel updates position gate and is limited to 360 degree~420 degree (preferably 400
Degree).
Above by specific embodiment and embodiment, invention is explained in detail, but these are not composition pair
Limitation of the invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Into these also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of electric boosting steering system hard-over self-learning method, characterized in that include:
When steering wheel left-hand rotation angle is more than the limit on the left corner value of default calibration, steering wheel angle value this moment is recorded, direction is worked as
When disk time is just arrived within steering wheel update position thresholding, updated value is demarcated to record steering wheel angle value as limit on the left corner；
Steering wheel updates position thresholding: when steering wheel returns to the position, updating the ultimate angle value of steering wheel or so；
When steering wheel right-hand rotation angle is more than the limit on the right-right-hand limit corner value of default calibration, steering wheel angle value this moment is recorded, direction is worked as
When disk time is just arrived within steering wheel update position thresholding, updated value is demarcated to record steering wheel angle value as limit on the right-right-hand limit corner；
When speed is greater than threshold speed, steering wheel left-hand rotation setting stick torque is greater than torque threshold, and the duration is more than time threshold,
The steering wheel angle value of record this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, with the steering wheel of record
Corner value demarcates updated value as limit on the left corner；
When speed is greater than threshold speed, steering wheel right-hand rotation setting stick torque is greater than torque threshold, and the duration is more than time threshold,
The steering wheel angle value of record this moment, when steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, with the steering wheel of record
Corner value demarcates updated value as limit on the right-right-hand limit corner；
When steering wheel return, which just arrives steering wheel, to be updated within the thresholding of position, updated with the left and right ultimate angle calibration updated value
The Derivative limit on the left or on the right corner value of steering wheel.
2. the electric boosting steering system hard-over self-learning method as described in claim 1, it is characterized in that: threshold speed
For 1kmph ~ 3kmph, torque threshold is 3Nm ~ 6Nm, and time threshold is 2 seconds ~ 5 seconds, steering wheel update position gate be limited to 360 degree ~
420 degree.
3. the electric boosting steering system hard-over self-learning method as described in claim 2, it is characterized in that: threshold speed
For 3kmph, torque threshold 6Nm, time threshold is 5 seconds, and steering wheel updates position gate and is limited to 400 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511002802.7A CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511002802.7A CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106915381A CN106915381A (en) | 2017-07-04 |
| CN106915381B true CN106915381B (en) | 2019-05-21 |
Family
ID=59455808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511002802.7A Active CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106915381B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426722A (en) * | 2018-01-23 | 2018-08-21 | 北京清博华创测控技术有限公司 | A kind of hydraulic pressure automatic steering system scaling method |
| CN111098915A (en) * | 2018-10-26 | 2020-05-05 | 上汽通用汽车有限公司 | Steering mechanism stroke limit protection control method, computer readable storage medium and steering mechanism stroke limit protection control system |
| CN110550097A (en) * | 2019-09-07 | 2019-12-10 | 新乡艾迪威汽车科技有限公司 | rack stroke self-learning method and rack tail end protection method |
| CN112648062B (en) * | 2019-10-10 | 2021-09-14 | 广州汽车集团股份有限公司 | Self-learning method of temperature control module for automobile |
| CN111688801B (en) * | 2020-06-30 | 2021-11-19 | 安徽江淮汽车集团股份有限公司 | Steering wheel zero position self-calibration control method, device, storage medium and device |
| CN112046601B (en) * | 2020-07-29 | 2022-03-11 | 东风汽车集团有限公司 | Method for calibrating limit position of steering angle, steering controller and automobile |
| CN111923998B (en) * | 2020-08-13 | 2021-09-14 | 中国第一汽车股份有限公司 | Steering wheel angle control method, device, equipment and storage medium |
| CN112356915B (en) * | 2020-11-12 | 2022-02-01 | 东风汽车集团有限公司 | Method, system and storage medium for learning extreme angular position of steering wheel |
| CN112407036B (en) * | 2020-11-18 | 2021-11-02 | 东风汽车集团有限公司 | Electric power steering control method, device, equipment and storage medium |
| US11789412B2 (en) * | 2021-03-22 | 2023-10-17 | Steering Solutions Ip Holding Corporation | Functional limits for torque request based on neural network computing |
| CN113335375A (en) * | 2021-06-23 | 2021-09-03 | 陕西万方汽车零部件有限公司 | Self-learning method for neutral position in driving of commercial vehicle |
| CN114212146A (en) * | 2021-12-23 | 2022-03-22 | 上海易咖智车科技有限公司 | Method and device for acquiring corner midpoint of automatic driving vehicle |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0696389B2 (en) * | 1986-10-29 | 1994-11-30 | 株式会社日立製作所 | Electric power steering control device |
| JP4248739B2 (en) * | 2000-08-30 | 2009-04-02 | 三菱電機株式会社 | Electric power steering control device and control method thereof |
| JP2010260464A (en) * | 2009-05-08 | 2010-11-18 | Honda Motor Co Ltd | Steering angle middle point learning method, and steering angle reaction force control method |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
-
2015
- 2015-12-28 CN CN201511002802.7A patent/CN106915381B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106915381A (en) | 2017-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106915381B (en) | Electric boosting steering system hard-over self-learning method | |
| JP6808080B2 (en) | Power steering management method and its management module | |
| US8135516B2 (en) | Steering control apparatus for vehicle and steering control method | |
| US20180297631A1 (en) | Electric power steering device | |
| CN108340966A (en) | Position self-learning method in electric boosting steering system and its steering wheel angle | |
| CN102666253B (en) | Control device for steering transmission ratio variable device | |
| JP7099892B2 (en) | Steering control device | |
| US20200398891A1 (en) | Actuator synchronization in a steer-by-wire steering system | |
| JP6028575B2 (en) | Vehicle steering control device and vehicle steering control method | |
| CN103249632A (en) | Vehicle steering control apparatus | |
| US11299197B2 (en) | Steering system | |
| JP2016088436A (en) | Motor control device | |
| US10106192B2 (en) | Method for teaching permissible steering angles in a steering device of a motor vehicle | |
| KR20170065793A (en) | Control apparatus and method of motor driven power steering system | |
| CN104071212A (en) | Electric power steering apparatus | |
| US8798865B1 (en) | Pull-drift compensation enhancements | |
| CN103935395B (en) | A kind of method of adaptive friction compensation of electric boosting steering system and electric boosting steering system | |
| CN106828588B (en) | Remote control steering control method for electric power steering system | |
| US10562568B2 (en) | Vehicle control device | |
| KR20200087893A (en) | Steering control device for an autonomous vehicle and control method thereof | |
| DE102008055873A1 (en) | Electromechanical servo-steering system for motor vehicle, has error control for monitoring correct function of torque sensor, and adjusting signal producing emergency operation support torque that is independent of output signal of sensor | |
| EP3496981A1 (en) | Providing driver assistance | |
| CN204314958U (en) | Drive recorder is turned to and with car turning rack with car | |
| CN115042771A (en) | EPS (electric Power storage) deviation compensation control method, device and system and automobile | |
| DE10210363A1 (en) | Device for detecting a change in the angle of rotation of a steering column |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |