CN101434258B - Power-assisted steering control system - Google Patents
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- CN101434258B CN101434258B CN2007101703979A CN200710170397A CN101434258B CN 101434258 B CN101434258 B CN 101434258B CN 2007101703979 A CN2007101703979 A CN 2007101703979A CN 200710170397 A CN200710170397 A CN 200710170397A CN 101434258 B CN101434258 B CN 101434258B
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Abstract
The invention relates to a dynamic assistant steering control system, comprising a driving module, a processing module and a state sensing module; wherein, the driving module can drive a steering wheel; the state sensing module can sense the driving state parameters of automobile speed, wheel speed and steering wheel turning angles, etc., which are transmitted to the processing module controlling the driving module according to the different driving states so as to lead the driving module to assist the steering of the steering wheel in proper time and lead a driver to operate the steering wheel smoothly.
Description
Technical field
The present invention is a kind of assisted diversion control system, especially can car assistedly turn to about a kind of, allows the driver obtain the control system of assisted diversion or stabilising direction dish under various different driving situations.
Background technology
Bearing circle with power-assisted can effectively alleviate the application of force burden of driver when driving to turn to, and therefore, power steering early is that the standard of every automobile is equipped with.The kind of electronic assist steering system (power steering) is a lot, and its usefulness and characteristic be difference slightly slightly all, but its applied principle and effect are all similar.Generally speaking, the foundation that traditional electronic assist steering system is only exerted oneself as motor by the speed of a motor vehicle and driver's outputting torsion, there is no for the variation of steering angle, deflection angle speed and deflection angle acceleration/accel and to carry out Correction and Control, cause the operational heavy feel of driver under certain conditions.For example one is called " the vehicle control is to device ", notification number is 200307617 TaiWan, China patent, only export foundation at control logics such as damping, friction and inertia as the assisted diversion motor, still can there be not good operating experience in the driver under some specific operation condition.In sum, though aforesaid vehicle control can reach certain auxiliary usefulness that turns to device or traditional electronic assist steering system, but still there is following shortcoming:
1. the compensation of assisted diversion input detection signal imperfection causes still can having not good operating experience under some specific operation condition.
2. aforementioned compensation operation logic and the function limitation system of detection signal own, present electronic assist steering system can't turn to auxiliary feedback according to pavement state or driving states, under some specific driving states, for example through recess, through high spot, blow out etc., system can't provide auxiliary and the return function of turning to that the driver should have.
Summary of the invention
For solving aforementioned electronic assist steering system because the compensation judgment logic is perfect inadequately, cause driver under the particular state when the steer direction dish, still can feel heavy feel and the problem that feed-back compensation can't be provided according to the driving situation, the invention provides a kind of power-assisted steering control system, it comprises:
One drives module, is connected with a bearing circle of an automobile, and exports a specific torque in a particular moment and rotate with auxiliary this bearing circle;
One handles module, and itself and this driving module electrically connects, and exports this driving module of a gain control according to a driving and bearing circle rotary state, makes this driving module can assist this bearing circle to rotate;
One current sensor, its input end and this drive module and electrically connect, and read the working current of this driving module and this working current signal is sent to this processing module; And
One vehicle condition sensing module, the rotation torsional moment of its this bearing circle of sensing, the rotational angle of bearing circle, road speed, braking commands and four-wheel wheel speed, its mouth and this are handled module and are electrically connected, and the signal of sensing is sent to this processing module;
Wherein, this processing module is carried out a bearing circle angular acceleration arithmetic element according to the signal that this vehicle condition sensing module and this current sensor are transmitted, one bearing circle cireular frequency arithmetic element, one antagonistic force arithmetic element, one basic aux. controls logic, a positive compensate control logic, one damping compensation control logic, one inertia compensation control logic, one impacts the blow out operation result of compensate control logic of compensate control logic and, again operation result is delivered to motor control arithmetic element and carried out the totalling computing, rotate with auxiliary this bearing circle and export this gain to this driving module;
Wherein, this vehicle condition sensing module comprises:
One bearing circle torsion sensing device, its mouth and this are handled module and are electrically connected, and the torsional moment when this bearing circle of its sensing rotates also is sent to this processing module with this torsional moment signal;
One speed of a motor vehicle sensor, its mouth and this are handled module and are electrically connected, and the road speed of its this automobile of sensing also is sent to this processing module with this road speed signal;
One steering wheel angle sensor, its mouth and this are handled module and are electrically connected, and the corner of its this bearing circle of sensing also is sent to this processing module with this corner signal;
One braking commands sensor, its mouth and this are handled module and are electrically connected, and the braking commands of its this automobile of sensing also is sent to this processing module with this braking commands; And
One four-wheel wheel speed sensor, its mouth and this are handled module and are electrically connected, and also should rotate wheel speed is sent to this processing module to the rotation wheel speed of each wheel of its sensing automobile;
Wherein, this driving module comprises a motor driver and a motor, the input end of this motor driver and this are handled module and are electrically connected, the mouth of this motor driver and this motor electrically connect, this motor can drive this bearing circle, wherein, and after this handles the output signal computing of module according to this vehicle condition sensing module and this current sensor, export this gain to this motor driver, make this motor driver drive this motor and auxiliary this bearing circle rotation.
By this, processing module of the present invention can be carried out multiple compensation operation logic, the input parameter of each compensation operation logic, calculation condition are all inequality, even meet with different situations when allowing running car, all can make to drive module, lower driver's the operation discomfort and the problem of risky operation with this bearing circle of suitable Torque Control.
Description of drawings
Fig. 1 is the diagram of block of preferred embodiment of the present invention.
Fig. 2 handles the executable logical block scheme drawing of module for one of preferred embodiment of the present invention.
Fig. 3 is a bearing circle torsional moment of a basic aux. controls logic of preferred embodiment of the present invention and the pass figure of a gain.
Fig. 4 is a speed of a motor vehicle of this basic aux. controls logic of preferred embodiment of the present invention and the graph of a relation of gain.
Fig. 5 is a bearing circle angular acceleration of a positive compensate control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Fig. 6 is a steering wheel angle that returns positive compensate control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Fig. 7 is the speed of a motor vehicle of returning positive compensate control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Fig. 8 is the steering wheel angle of a damping compensation control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Fig. 9 is the speed of a motor vehicle of the damping compensation control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Figure 10 is the speed of a motor vehicle of an inertia compensation control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Figure 11 is the steering wheel angle of the inertia compensation control logic of preferred embodiment of the present invention and the graph of a relation of gain.
Figure 12 impacts compensation and blows out the bearing circle cireular frequency of compensate control logic and the graph of a relation of gain for one of preferred embodiment of the present invention.
Figure 13 for a running car of preferred embodiment of the present invention during through bump or depression the antagonistic force and the speed of a motor vehicle change scheme drawing.
Figure 14 is this impact compensation and blow out the bearing circle angular acceleration of compensate control logic and graph of a relation of gain of preferred embodiment of the present invention.
Figure 15 is an automobile flat tire of preferred embodiment of the present invention or the variation scheme drawing of quick wheel speed, the speed of a motor vehicle and the antagonistic force that leaks of tire pressure.
[primary clustering nomenclature]
(10) handle module
(20) vehicle condition sensing module
(22) bearing circle torsion sensing device
(24) speed of a motor vehicle sensor
(26) steering wheel angle sensor
(28) braking commands sensor
(29) four-wheel wheel speed sensor
(30) drive module
(32) motor driver
(34) motor
(40) current sensor
The specific embodiment
Please refer to Fig. 1, preferred embodiment for power-assisted steering control system of the present invention (Electric Power Steering), it comprises one and handles module 10, a vehicle condition sensing module 20, a driving module 30 and a current sensor 40, wherein, the mouth of this vehicle condition sensing module 20 is connected with this processing module 10, this input end that drives module 30 is connected with this processing module 10, and the input end of this current sensor 40 is connected with this driving module 30 and this processing module 10 respectively with mouth.
Please refer to Fig. 2, this processing module 10 can be controlled this drivings module 30 according to different drivings and bearing circle rotary state, and it can be drive a vehicle control computer or be to be connected in the electronics module of this driving control computer of one of automobile; This driving and bearing circle rotary state comprise the wheel speed of a road speed, a braking commands, a bearing circle torsion, a steering wheel angle and four wheels etc. and rotate relevant driving states parameter with bearing circle.The processing module 10 of this preferred embodiment is for having the driving control computer of bearing circle power-aid function, it receives the output signal of this vehicle condition sensing module 20 and this current sensor 40, and the signal that foundation is received is carried out a bearing circle angular acceleration arithmetic element, one bearing circle cireular frequency arithmetic element, one antagonistic force arithmetic element, one basic aux. controls logic, a positive compensate control logic, one damping compensation control logic, one inertia compensation control logic, one impacts compensate control logic and blows out after the computing of compensate control logic, again operation result is delivered to motor control arithmetic element and carried out the totalling computing and produce an output gain, this output gain is transported to this driving module 30.
This vehicle condition sensing module 20 comprise mouth respectively with this processing module 10 bonded assemblys one bearing circle torsion sensing device 22, a speed of a motor vehicle sensor 24, a steering wheel angle sensor 26, a braking commands sensor 28 and a four-wheel wheel speed sensor 29; Wherein, torsional moment, automobile driving speed, the rotational angle of bearing circle when the sensing vehicle steering is rotated respectively of this bearing circle torsion sensing device 22, this speed of a motor vehicle sensor 24, this steering wheel angle sensor 26, this braking commands sensor 28 and this four-wheel wheel speed sensor 29, whether brake is triggered and indivedual speed of automobile four wheels.Wherein, this speed of a motor vehicle sensor 24 can be the electronics sensing component of a running speed, perhaps, also can be traditional estimating and measuring method, for example utilize computing such as wheel speed, output shaft of gear-box rotating speed and speed of a motor vehicle result.
This driving module 30 comprises a motor driver 32 and a motor 34, the input end of this motor driver 32 and this are handled module 10 and are electrically connected, the input end of this motor 34 is connected with this motor driver 32, wherein, this motor 34 is connected with automobile steering wheel, and it can give this bearing circle one specific torque and rotate with auxiliary bearing circle.Like this, this processing module 10 can be according to this driving and bearing circle rotary state and is adjusted to the output of this motor driver 32, and can further adjust the auxiliary output that this motor 34 offers this wheel steering.
The input end of this current sensor 40 and this motor 34 electrically connects, the working current of this motor 34 of its sensing, and sensing result is sent to this processing module 10.Wherein, the working current of this motor 34 is associated with the rotary state of this bearing circle, make this processing module 10 can obtain the real time operation state of this motor 34 and bearing circle according to this working current, like this, when this bearing circle or this motor 34 (are for example blown out, impacted because of running car suffers emergency situations ... Deng) and when changing mode of operation, this working current generation change slightly will be made, therefore handle module 10 and can adjust output in view of the above in real time, with the further state of stablizing running car to this drivings module 30.
Receive the signal of these vehicle condition sensing modules 20 and this current sensor 40 and deliver to relation between this driving module 30 for illustrating further this processing module 10, and these processing module 10 executable bearing circle angular acceleration arithmetic elements, bearing circle cireular frequency arithmetic element, antagonistic force arithmetic element, basic aux. controls logic, the function of returning positive compensate control logic, damping compensation control logic, inertia compensation control logic, impacting different computing such as the compensate control logic and the compensate control logic of blowing out, please refer to Fig. 3-15, wherein:
The computing of this basic aux. controls logic for this handles the output signal of module 10 according to this bearing circle torsion sensing device 22 and this speed of a motor vehicle sensor 24, is converted to a gain (Gain) through different non-linear conversion relations with the output signal of being detected respectively.The output signal relation of the gain of this preferred embodiment and this bearing circle torsion sensing device 22 and this speed of a motor vehicle sensor 24 respectively as shown in Figures 3 and 4.
The positive compensate control logic of this time, be after this processing module 10 is carried out this bearing circle angular acceleration arithmetic element according to the output signal of this steering wheel angle sensor 26, this processing module 10 further cooperates corner, torsional moment and the speed of a motor vehicle of this bearing circle to carry out computing and operation result is delivered to this motor control arithmetic element 30.Wherein, the main purpose of the positive compensate control logic operation of this time is the driver assistance, and the person returns positive running car dynamically to craspedodrome, and improves vehicle body in the stability of returning positive process.Wherein, bearing circle torsional moment and the speed of a motor vehicle be as the foundation that whether activates back positive compensate control logic, and when above-mentioned torsional moment and the speed of a motor vehicle satisfied following formula (1), (2), this handled module 1
Carry out the positive compensate control logic operation of this time for 0.
T
driner＜T
re(1)
V
vehicle＜V
re(2)
Wherein,
T
DriverBe the bearing circle torsional moment;
T
ReFor returning the torsional moment critical value of positive compensate control logic activation;
V
VehicleBe the speed of a motor vehicle;
V
ReFor returning the speed of a motor vehicle critical value of positive compensate control logic activation.
Wherein, the relation of angular acceleration, steering wheel angle and the speed of a motor vehicle of gain after the positive compensate control logic operation of this time and bearing circle is respectively as Fig. 5, Figure 6 and Figure 7.
And the computing of bearing circle angular acceleration such as following formula:
Wherein,
θ is a steering wheel angle;
T is sample time;
K is the time step;
The transverse axis of Fig. 5 is represented the bearing circle angular acceleration, and longitudinal axis representative gain is an example with this preferred embodiment, and its 1st, 2 quadrant is then represented counter-rotating (bearing circle changes towards anticlockwise direction), and the 3rd, 4 quadrants are then just represented and changeed.
This damping compensation control logic, being this processing module 10 converts and after obtaining the cireular frequency of bearing circle through this bearing circle cireular frequency arithmetic element according to the output signal of this steering wheel angle sensor 26, cooperates the output signal of this bearing circle torsion sensing device 22, this speed of a motor vehicle sensor 24 and this steering wheel angle sensor 26 again and forms this gain.When the speed of a motor vehicle and torsional moment satisfy following formula (4), (5) respectively, then carry out this damping compensation control logic computing to produce gain:
T
driver＜T
da (4)
V
vehicle＞V
da?(5)
Wherein,
T
DaTorsional moment critical value for the activation of damping compensation control logic;
V
DaSpeed of a motor vehicle critical value for the activation of damping compensation control logic.
The cireular frequency of the bearing circle of this damping compensation control logic can be tried to achieve by formula (6):
Θ(k-1)＝(Θ(k)-Θ(k-1)/T (6)
Wherein,
Θ is the bearing circle cireular frequency;
Θ is a steering wheel angle;
T is sample time;
K is the time step.
As shown in Figure 8, when the gain negative of the big more then damping compensation of steering wheel angle control logic is non-linear increase, be that car speed is greater than its setting value (V activation opportunity of this damping compensation control logic
Da), and the bearing circle torque value is less than its setting value (T
Da) time, just carry out the computing and the control of damping compensation control logic.
In this inertia compensation control logic, it is the problem that compensation driver steering wheel rotation speed produces heavy feel when very fast, because traditional inertia compensation logic only is to adjust the output gain value of inertia compensation according to the angular acceleration of bearing circle, in this preferred embodiment, as comprising steering wheel angle and speed of a motor vehicle signal in the input parameter of inertia compensation control logic computing especially, wherein, this handles the result of module 10 according to bearing circle angular acceleration arithmetic element, and cooperate the output of this speed of a motor vehicle sensor 24 and this steering wheel angle sensor 26 and form output gain, wherein should gain and the relation of the speed of a motor vehicle and steering wheel angle respectively as Figure 10 and shown in Figure 11.
The input signal of this impact compensate control logic comprises the result of the output of speed of a motor vehicle sensor 24, this steering wheel angle sensor 26 and bearing circle cireular frequency arithmetic element and antagonistic force arithmetic element and exports this gain.
The input signal of this compensate control logic of blowing out then comprises the output of this bearing circle torsion sensing device 22, this speed of a motor vehicle sensor 24, this steering wheel angle sensor 26, this braking commands sensor 28, this four-wheel wheel speed sensor 29 and this current sensor 40.Wherein, this impact compensate control logic and this compensate control logic of blowing out is the output signal of comprehensive these sensors, judge running car various situations on the way, make this processing module 10 control this driving module 30, the driving safety and the traveling comfort of the effective Control of Automobile of driver assistance person according to different driving situations.Wherein, impacting the compensation main purpose is because of ground-surface is raised or sunken tire to be interfered at running car on road impulsive force directly is passed to bearing circle, cause automobile misroute to or allow the driver feel uncomfortable; Impact compensation and mainly do when low vehicle speeds, its service conditions is shown in formula (7), (8):
V
vehicle≤V
1 (7)
|(T
R(k)-T
R(k-1))/t|≥I(8)
Wherein,
V
VehicleBe the speed of a motor vehicle;
V
1Critical setting value for the speed of a motor vehicle;
T
RBestow the antagonistic force of a Steering gear of this bearing circle for the road surface;
I be the Steering gear antagonistic force the time variability critical setting value;
T is sample time;
K is the time step;
Wherein, as the speed of a motor vehicle (V
Vehicle) be lower than a critical setting value (V
1) time (as shown in Equation (7)), road surface bestow the antagonistic force (T of a Steering gear of this bearing circle
R) and when variability satisfies formula (8) at that time, then impact the compensate control logic promptly with reference to relational calculus and the output gain of Figure 12; For example, Figure 13 is this preferred embodiment emulation automobile when on the way travelling, antagonistic force (T when the left side tire meets bump or depression
R) and the speed of a motor vehicle (V
Vehicle) the variation situation.Wherein, antagonistic force (T
R) try to achieve by calculating such as bearing circle torsional moment, bearing circle angular acceleration and auxiliary torques by this antagonistic force arithmetic element, wherein, this auxiliary torque can be calculated by the signal of current sensor and get.As following formula (9):
Wherein,
T
DriverTorsional moment for bearing circle;
T
AssistAuxiliary torque for motor 34 outputs;
J is the rotary inertia of Steering gear;
In addition, mainly desire solution automobile is when running at high speed for this compensate control logic of blowing out, and because of the quick leakage of air pressure of automobile tire causes automobile to have the unusual dynamic change of travelling, and the driver is because of problems that situation caused such as the quick direction of operating dishes of scaring.
This compensate control logic of blowing out is at first judged antagonistic force T
RWhether satisfy aforementioned formula (10) and following formula (11):
V
vehicle≥V
2 (10)
Wherein, V
2The critical setting value of the speed of a motor vehicle for the compensate control logic of blowing out; If all satisfy formula (10), (11), then the wheel speed and the speed of a motor vehicle with each tire is compared as follows shown in row formula (12) formula:
V
vehicle-V
wheel，i＞F，i＝1，2，3，4 (12)
Wherein,
V
Wheel, iWheel speed for a certain specific tires;
F is the critical setting value of the gap of the speed of a motor vehicle and specific tires wheel speed;
Perhaps, the aviation value of also desirable four wheel speeds and each wheel speed compare, shown in following formula (13):
max(ave(V
wheel)-V
wheel，i)＞G，i＝1，2，3，4 (13)
Wherein,
Ave (V
Wheel) be the average wheel speed of four tires;
G is the critical setting value of wheel speed difference;
If formula (12) or formula (13) are set up, then this processing module 10 is promptly confirmed as automobile and is blown out, it is in real time by signals such as this vehicle condition sensing module 20 and this current sensor 40 detecting speed of a motor vehicle, braking commands, steering wheel angle, this motor operations electric current and four-wheel wheel speeds, and the compensate control logic operation (as shown in figure 14) of blowing out, send this motor control arithmetic element to and export and control this driving module to produce gain, to compensate and to avoid the driver because of the inordinate rotation bearing circle agitato of blowing out.As shown in figure 15, it is the variation of an automobile flat tire or air pressure four-wheel wheel speed, the speed of a motor vehicle and antagonistic force when leaking fast.
Claims (7)
1. power-assisted steering control system is characterized in that it comprises:
One drives module, is connected with a bearing circle of an automobile, and exports a specific torque in a particular moment and rotate with auxiliary this bearing circle;
One handles module, and itself and this driving module electrically connects, and exports this driving module of a gain control according to a driving and bearing circle rotary state, makes this driving module can assist this bearing circle to rotate;
One current sensor, its input end and this drive module and electrically connect, and read the working current of this driving module and this working current signal is sent to this processing module; And
One vehicle condition sensing module comprises:
One bearing circle torsion sensing device, its mouth and this are handled module and are electrically connected, and the torsional moment when this bearing circle of its sensing rotates also is sent to this processing module with this torsional moment signal;
One speed of a motor vehicle sensor, its mouth and this are handled module and are electrically connected, and the road speed of its this automobile of sensing also is sent to this processing module with this road speed signal;
One steering wheel angle sensor, its mouth and this are handled module and are electrically connected, and the corner of its this bearing circle of sensing also is sent to this processing module with this corner signal;
One braking commands sensor, its mouth and this are handled module and are electrically connected, and the braking commands of its this automobile of sensing also is sent to this processing module with this braking commands; And
One four-wheel wheel speed sensor, its mouth and this are handled module and are electrically connected, and also should rotate wheel speed is sent to this processing module to the rotation wheel speed of each wheel of its sensing automobile;
Wherein, this processing module is carried out a bearing circle angular acceleration arithmetic element according to the signal that this vehicle condition sensing module and this current sensor are transmitted, one bearing circle cireular frequency arithmetic element, one antagonistic force arithmetic element, one basic aux. controls logic, a positive compensate control logic, one damping compensation control logic, one inertia compensation control logic and one is impacted the blow out operation result of compensate control logic of compensate control logic and, again operation result is delivered to motor control arithmetic element and carried out the totalling computing, rotate with auxiliary this bearing circle and export this gain to this driving module, wherein:
This impact compensation logic is when variability is greater than a setting value when road speed is lower than the critical setting value of a speed of a motor vehicle, antagonistic force, this processing module is accepted the output and the result of this speed of a motor vehicle sensor, this steering wheel angle sensor, this bearing circle cireular frequency arithmetic element and this antagonistic force arithmetic element, changes this gain; The negative of this bearing circle cireular frequency and gain is non-linear direct ratio.
2. power-assisted steering control system as claimed in claim 1, it is characterized in that, this driving module comprises a motor driver and a motor, the input end of this motor driver and this are handled module and are electrically connected, the mouth of this motor driver and this motor electrically connect, this motor can drive this bearing circle, wherein, after this handles the output signal computing of module according to this vehicle condition sensing module and this current sensor, export this gain to this motor driver, make this motor driver drive this motor and auxiliary this bearing circle rotation.
3. power-assisted steering control system as claimed in claim 1 or 2 is characterized in that,
This bearing circle angular acceleration arithmetic element is calculated the angular acceleration that this bearing circle rotates according to the output of this steering wheel angle sensor;
This bearing circle cireular frequency arithmetic element is calculated this bearing circle rotational angular according to the output of this steering wheel angle sensor; And
This antagonistic force arithmetic element according to the output of the result of this bearing circle angular acceleration arithmetic element and this bearing circle torsion sensing device and this current sensor calculate this running car meet with blow out, tire pressure leaks fast, during through protrusion or through recess, the antagonistic force of this bearing circle.
4. power-assisted steering control system as claimed in claim 3 is characterized in that,
This gain is calculated in the output of this this bearing circle torsion sensing device of basic aux. controls logic basis and this speed of a motor vehicle sensor, and wherein, this bearing circle torsional moment and this gain are non-linear direct ratio; And
The road speed of this basic aux. controls logic and this gain are non-linear inverse ratio.
5. power-assisted steering control system as claimed in claim 3 is characterized in that,
The positive compensate control logic of this time is this processing module after judging that this torsional moment is lower than the critical setting value of a torsional moment and this road speed and whether is lower than the critical setting value of a road speed, exports this gain according to the output and the result of this bearing circle torsion sensing device, this speed of a motor vehicle sensor, this steering wheel angle sensor and direction angle acceleration/accel arithmetic element; Wherein, the absolute value of this gain and angular acceleration is non-linear inverse ratio; The negative of this steering wheel angle and this gain is non-linear direct ratio; The negative of this road speed and this gain is non-linear inverse ratio;
This damping compensation control logic is according to changing this gain after the output of this bearing circle torsion sensing device, this speed of a motor vehicle sensor, this steering wheel angle sensor and this bearing circle cireular frequency arithmetic element and the computing as a result; Wherein, the negative of this steering wheel angle and this gain is non-linear direct ratio; This road speed is after surpassing the critical setting value of a speed of a motor vehicle, and the negative of this gain and road speed are non-linear direct ratio;
This inertia compensation control logic changes this gain after being the output and computing as a result of this processing module according to this speed of a motor vehicle sensor, this steering wheel angle sensor and this bearing circle angular acceleration arithmetic element; Wherein, this gain and road speed are non-linear direct ratio; This gain becomes non-linear direct ratio with steering wheel angle; And
This compensate control logic of blowing out is when variability is greater than a setting value when road speed is higher than critical setting value of a speed of a motor vehicle and antagonistic force, this processing module is accepted the output and the result of this speed of a motor vehicle sensor, this steering wheel angle sensor, this braking commands sensor, this four-wheel wheel speed sensor, this bearing circle angular acceleration arithmetic element and this antagonistic force arithmetic element, changes this gain; Wherein, the negative of this bearing circle angular acceleration and gain is non-linear direct ratio.
6. power-assisted steering control system as claimed in claim 5 is characterized in that, the tire that the difference differentiation that this compensate control logic of blowing out is the comparison speed of a motor vehicle and the wheel speed that each is taken turns is blown out is to change this gain and this specific torque.
7. power-assisted steering control system as claimed in claim 5 is characterized in that, this compensate control logic of blowing out is that the difference of relatively all average wheel speeds of taking turns and the wheel speed that each is taken turns is differentiated the tire of blowing out to change this gain and this specific torque.
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| CN2007101703979A CN101434258B (en) | 2007-11-15 | 2007-11-15 | Power-assisted steering control system |
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|---|---|---|---|
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| CN101434258A (en) | 2009-05-20 |
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