CN101722980A - Electric power steering system with individually adjustable-parameter and curve-type power characteristic - Google Patents
Electric power steering system with individually adjustable-parameter and curve-type power characteristic Download PDFInfo
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- CN101722980A CN101722980A CN200810202069A CN200810202069A CN101722980A CN 101722980 A CN101722980 A CN 101722980A CN 200810202069 A CN200810202069 A CN 200810202069A CN 200810202069 A CN200810202069 A CN 200810202069A CN 101722980 A CN101722980 A CN 101722980A
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Abstract
The invention provides an electric power steering system with an individually adjustable-parameter and curve-type power characteristic. The system is characterized in that: the power characteristic curve is a segmentation curve which is symmetric about the centre of a zero input moment point; an integral curve can be determined by setting 5 key parameter values on the curve, and, when one or more key parameters are regulated, the integrity of the curve and the continuity of the first-order derivative can still be guaranteed without modifying other parameters. The power characteristic of the electric power steering system provided by the invention can change the shape of the curve by adjusting 5 of the key parameter values to achieve different assisting effects, so the electric power steering system has the optimum steering performance which is expected by drivers.
Description
Technical field
The invention belongs to automobile technical field, relate to electric boosting steering system, especially a kind of electric boosting steering system (Electric PowerSteering System is called for short EPS) with the individually adjusted shaped form assist characteristic of parameter.
Background technology
Electric boosting steering system is to install torque sensor additional by traditional mechanical steering system (mainly comprising steering handwheel, steering shaft, deflector, steering track rod mechanism, wheel flutter), electronic control unit, and power steering motor and speed reduction gearing thereof are formed.Wherein, torque sensor is installed on the steering shaft to detect pilot control moment; Assist motor can be installed in steering shaft or the deflector, provides assist torque by speed reduction gearing to chaufeur; Torque sensor signal and car speed sensor signal are input to the basic power operated control module of electronic control unit, calculate corresponding assist torque, as the target torque command of assist motor output.The assist torque size can be provided with different assist characteristic curves by the software setting when the different speed of a motor vehicle, promptly can obtain the desirable feel that turns to.
Traditional electric power steering control system adopts the assist characteristic of linear pattern or broken line type mostly, but the gain of the power-assisted of linear pattern assist characteristic is a normal value regularly in the speed of a motor vehicle one, correspondence can not be distinguished in height zone for the operating torque of importing, thereby can't take into account the requirement of steering operation to middle position road feel and ease of steering; Though the design of broken line type assist characteristic has remedied this defective to a certain extent, the sudden change of break place gradient has still damaged and has turned to sensation, causes the jump sense of actuating force easily; Shortcomings such as though mentioned the method for designing of shaped form assist characteristic in the minority document, it is indeterminate all to exist the constrained parameters physical significance of choosing, and curvilinear equation is too simply or too complicated, and calibration process is loaded down with trivial details.
Summary of the invention
The objective of the invention is in order to improve the assist characteristic of electric boosting steering system, a kind of electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter is provided, and this system can determine the assist characteristic of electric boosting steering system under the different speed of a motor vehicle according to the sensation that turns to of chaufeur expectation; Can take into account the requirement of steering swivel system to middle position road feel and ease of steering; Can be applicable to the needs that the design of different automobile types EPS assist characteristic and real vehicle are demarcated, have explicit physical meaning, advantage such as easy to adjust.
For reaching above purpose, technical scheme of the present invention is:
A kind of electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter, this system (mainly comprises steering handwheel by traditional mechanical steering system, steering shaft, deflector, steering track rod mechanism, wheel flutter) install torque sensor additional, electronic control unit, power steering motor and speed reduction gearing thereof are formed; Wherein, torque sensor is installed on the steering shaft to detect moment on the hand of driver; Assist motor generally is installed on the steering shaft or in the deflector, provides assist torque by speed reduction gearing to chaufeur; Described torque sensor signal and car speed sensor signal are input to the basic power operated control module of electronic control unit, calculate corresponding assist torque, as the target torque command of assist motor output; This characteristic feature of an invention is, designed assist characteristic curve is a sectional type curve about zero input torque dot center symmetry, can change curve shape to reach different power-assisted effects by adjusting 5 key parameter values, and, when adjusting any or adjusting a plurality of key parameter simultaneously, other parameters needn't change, and still can guarantee the integraty and the first derivative continuity of curve.
Owing to adopted above technical scheme, the invention has the beneficial effects as follows: under the prerequisite of the hardware that does not need to change existing electric boosting steering system, by the change of basic power operated control algorithm, optimized the power steering performance of electric boosting steering system under the different speed of a motor vehicle; Simultaneously, because adjustment data explicit physical meaning and parameter are less, can shorten burn in period greatly.
Description of drawings
Fig. 1 is the basic control principle figure with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
Fig. 2 is assist characteristic curve and the constrained parameters scheme drawing with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
Fig. 3 is the interior assist characteristic diagram of curves of full vehicle speed range with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.(0-120km/h)。
Fig. 4 is simulation result V=30km/h lateral acceleration and the handling maneuver moment graph of a relation with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
Fig. 5 is simulation result V=60km/h lateral acceleration and the handling maneuver moment graph of a relation with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
Fig. 6 is simulation result V=100km/h lateral acceleration and the handling maneuver moment graph of a relation with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
Fig. 7 is simulation result V=100km/h lateral acceleration and the handling maneuver moment graph of a relation with electric boosting steering system of the individually adjusted shaped form assist characteristic of parameter of the present invention.
The specific embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
Electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter is (mainly to comprise steering handwheel by traditional mechanical steering system, steering shaft, deflector, steering track rod mechanism, wheel flutter) installs torque sensor additional, electronic control unit, power steering motor and speed reduction gearing thereof are formed.Wherein, torque sensor is installed on the steering shaft to detect moment on the hand of driver; Assist motor generally is installed on the steering shaft, perhaps in the deflector, provides assist torque by speed reduction gearing to chaufeur; Torque sensor signal and car speed sensor signal are input to the basic power operated control module of electronic control unit, calculate corresponding assist torque, as the target torque command of motor output.Fig. 1 has provided the basic control principle figure of this system.
This characteristic feature of an invention is that designed assist characteristic curve is a sectional type curve about zero input torque dot center symmetry, can change curve shape by adjusting 5 key parameter values, thereby realize different power-assisted effects, make electric boosting steering system can obtain the best turning efficiency of chaufeur expectation.
By to assist characteristic with turn to the analysis of feel relation, and for making the explicit physical meaning of curve, the present invention divides shaped form assist characteristic curve for 5 sections and designs respectively: 1-power-assisted dead band, the little power-assisted of 2-district, the big power-assisted of 3-district, 4-buffer zone, 5-saturation region.
The following describes the concrete implication of each section and the curve type that is adopted thereof:
Power-assisted dead band 1 is meant that the bearing circle operating torque is less, and motor does not provide power-assisted section, and the curve type of employing is a straight line.
Little power-assisted district 2 is meant that the vehicle lateral acceleration is less, and motor provides less power-assisted section, and the curve type of employing is a quadratic curve.
Big power-assisted district 3 is meant that the vehicle lateral acceleration is bigger, and motor provides bigger power-assisted section, and the curve type of employing is a straight line.
The designing requirement according to the present invention, the junction of each adjacent two sections curve must guarantee that first derivative is continuous, and Fig. 2 has provided the general shape of curve, and have marked the position of above-mentioned 5 sections.
Be design process below at the individually adjusted shaped form assist characteristic of the parameter under the single speed of a motor vehicle:
The x axle of assist characteristic diagram of curves is used T for the operating torque of input
dExpression; The y axle is the motor assist torque, uses T
aExpression.Because this assist characteristic curve is about origin of coordinates center symmetry, only needing research direction dish operating torque during analysis is that the situation of forward gets final product.
Choose following 5 constrained parameters k as shown in Figure 2
1, k
2w, g
3, k
4s, T
AmaxCan determine the curve shape of 5 sections.
Wherein:
k
1Be power-assisted dead band threshold values, the abscissa of promptly little power-assisted district starting point;
k
2wX direction of principal axis width for little power-assisted district;
g
3Straight slope for big power-assisted district;
k
4sAbscissa for the buffer zone starting point;
T
AmaxMaximum power-assisted value for motor under this speed of a motor vehicle.
Provide the curvilinear equation of each section of representing with these 6 constrained parameters below:
Power-assisted dead band 1:
T
a＝0??????????????????(1)
Little power-assisted district 2:
Big power-assisted district 3:
Buffer zone 4: under the continuous situation of the point of connection place first derivative that satisfies buffer zone quadratic curve and saturation region straight line, there are following coupled relation in parameter k4w and Tamax:
Wherein, k
4wX direction of principal axis width for buffer zone.
????????????????????????????????????????????????????????????
So both only need to keep one.By analysis, when the design assist characteristic, parameter T
AmaxK compares
4wEven more important, so select T
AmaxAs adjustable constrained parameters.But to guarantee k simultaneously
4w＞0, must satisfy following condition as can be known by following formula:
K then
4wCan calculate by following formula:
At this moment, the curvilinear equation of buffer zone is:
Saturation region 5:
T
a＝T
amax?????????????(8)
The assist torque T of output
aFollow following computation rule:
1) as | T
d|≤k
1The time, T
aSpan be the power-assisted dead band;
2) work as k
1＜| T
d|≤(k
1+ k
2w) time, T
aSpan be little power-assisted district;
3) as (k
1+ k
2w)＜| T
d|≤k
4sThe time, T
aSpan be big power-assisted district;
4) work as k
4s＜| T
d|≤(k
4s+ k
4w) time, T
aSpan be buffer zone;
5) as | T
d＞(k
4s+ k
4w) time, T
aSpan be the saturation region.
In addition, assist torque T
aAlways with bearing circle operating torque T
dSymbol identical, so have
T
a＝T
a×sign(T
d)?????????????(9)
By above analysis as can be known, selected 5 key parameter [k
1, k
2w, g
3, k
4s, T
Amax] can determine 5 sections curves, they link up and have just constituted the individually adjusted shaped form assist characteristic of a parameter curve that first derivative is continuous.Set up and follow in (5) formula that guarantees under the prerequisite of physical significance of each parameter, when adjusting any or adjusting a plurality of key parameter simultaneously, other parameters needn't change, and still can guarantee the integraty and the first derivative continuity of curve.
Be the design process of assist characteristic curve in the full vehicle speed range below:
According to designing requirement, can formulate some the assist characteristic curves under the different speed of a motor vehicle as datum line, for example in certain vehicle speed range, choose 0,10,20 ..., the power-assisted curve under these specific speed of a motor vehicle of 200km/h is as datum line.For each bar benchmark power-assisted curve,, 5 constrained parameters [k are set according to the relation that turns to feel and assist characteristic
1, k
2w, g
3, k
4s, T
Amax] value, can generate curve under this speed of a motor vehicle according to the method for designing of assist characteristic curve under the above-mentioned single speed of a motor vehicle, promptly each bar datum line all has one group of parameter corresponding with it.
Suppose to choose N bar datum line, each parameter will have N a reference value so.Respectively this N a reference value of each parameter is carried out simple linear interpolation arithmetic in full vehicle speed range then, can obtain the value of each parameter in full vehicle speed range.Therefore, for arbitrary vehicle velocity V, all will obtain one group of cooresponding constrained parameters [k
1(v), k
2w(v), g
3(v), k
4s(v), T
Amax(v)], just can obtain shaped form assist characteristic curve under this speed of a motor vehicle to the curvilinear equation of above-mentioned 5 sections of their substitutions.Fig. 3 has provided the assist characteristic curve of the present invention in the full vehicle speed range of 0-120km/h.
Be below to designed assist characteristic curve the simulation analysis result:
Adopting sinusoidal corner input test, is 30km/h to the speed of a motor vehicle, and three kinds of operating modes of 60km/h and 100km/h have been carried out emulation, have compared the effect of linear pattern and shaped form assist characteristic.
(1) during V=30km/h, incoming frequency 0.2Hz selects the corner amplitude to make lateral acceleration reach 4m/s
2Simulation result as shown in Figure 4 shows that by adjusting constrained parameters, the comparable linear pattern of shaped form assist characteristic turns to lighter.
(2) during V=60km/h, incoming frequency 0.2Hz selects the corner amplitude to make lateral acceleration reach 4m/s
2Simulation result as shown in Figure 5 shows, by adjusting constrained parameters, the shaped form assist characteristic not only can keep the road feel requirement of linear pattern at midway location, and will be lighter than linear pattern when turning under big lateral acceleration.
(3) during V=100km/h, turn to the requirement of ranking test according to midway location, incoming frequency is 0.2Hz, selects the corner amplitude to make lateral acceleration reach about 0.2g.Because this moment, the design of linear pattern assist characteristic no longer produced power-assisted, so Fig. 6 has only compared non helping hand and adopted shaped form assist characteristic both of these case.Can see that owing to still kept the power-assisted dead band, moment values when lateral acceleration is 0g and gradient obviously do not change, but moment values and the gradient of lateral acceleration when being 0.1g reduces to some extent all.
For further specifying, to have chosen four groups of different shaped form constrained parameters and compared, simulation result is as shown in Figure 7.Table 3 has provided concrete critical for the evaluation value, and as can be seen, by adjustment data, the shaped form assist characteristic can improve midway location easily and turn to sensation.
Table 3 midway location turning test critical for the evaluation
| Critical for the evaluation | Shaped form I | Shaped form II | Shaped form III | Shaped form IV |
| 0.1g the time bearing circle moment [Nm] | ??3.819 | ??3.767 | ?3.724 | ??3.465 |
| 0.1g the time bearing circle moment gradient [Nm/g] | ??15.882 | ??13.947 | ?12.881 | ??10.999 |
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art should be within protection scope of the present invention for improvement and modification that the present invention makes according to announcement of the present invention.
Claims (11)
1. electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter, this system installs torque sensor additional by traditional mechanical steering system, electronic control unit, power steering motor and speed reduction gearing thereof are formed; Wherein, torque sensor is installed on the steering shaft to detect pilot control moment T
dAssist motor can be installed in steering shaft or the deflector, provides assist torque T by speed reduction gearing to chaufeur
aElectronic control unit calculates the driving current value that needs provide to assist motor according to current vehicles travel conditions and operating torque size, to produce corresponding assist torque; It is characterized in that, under a certain speed of a motor vehicle, described operating torque T
dWith assist torque T
aCorresponding relation be that the abscissa of described assist characteristic curve is an operating torque by the assist characteristic curve definitions of an individually adjusted shaped form of parameter, ordinate is cooresponding assist torque; The left and right part of described assist characteristic curve is about zero operating torque dot center symmetry, the assist characteristic curve of a left side or right half adopts segmentation assist characteristic curve to be formed by connecting, and the assist characteristic curve point of connection place of each adjacent sections guarantees that all first derivative is continuous; By adjusting each section parameter of curve, promptly can obtain the best turning efficiency of chaufeur expectation.
2. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 1, it is characterized in that the assist characteristic curve of a described left side or right half is made up of power-assisted dead band, little power-assisted district, big power-assisted district, 5 different sections of buffer zone and saturation region.
3. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 2 is characterized in that, the curve shape of the assist characteristic curve of a described left side or right half is chosen 5 constrained parameters: k
1, k
2w, g
3, k
4s, T
AmaxRetrain;
Wherein:
k
1Be power-assisted dead band threshold values, the abscissa of promptly little power-assisted district starting point;
k
2wX direction of principal axis width for little power-assisted district;
g
3Straight slope for big power-assisted district;
k
4sAbscissa for the buffer zone starting point;
T
AmaxMaximum power-assisted value for motor under this speed of a motor vehicle.
4. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3, it is characterized in that, when adjusting any or adjusting a plurality of constrained parameters simultaneously, other constrained parameters needn't change, and still can guarantee the integraty and the first derivative continuity of assist characteristic curve.
5. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3 is characterized in that, the assist torque value perseverance in the described power-assisted dead zone range is 0, and promptly curvilinear equation is: T
a=0.
6. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3 is characterized in that, the assist torque in the described little power-assisted district scope is the quadratic function about operating torque, and wherein curvilinear equation is:
The point of connection place first derivative of this section quadratic curve and power-assisted dead band straight line is continuous, and promptly abscissa is k
1The slope at place equals 0.
7. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3 is characterized in that, the assist torque in the described big power-assisted district scope is the linear function about operating torque, and wherein equation of straight line is:
The point of connection place first derivative of this section straight line and little power-assisted district quadratic curve is continuous.
8. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3 is characterized in that, the assist torque in the described buffer zone scope is the quadratic function about operating torque, and wherein curvilinear equation is:
Wherein, k
4wX direction of principal axis width for buffer zone.
This section quadratic curve is continuous with the point of connection place first derivative of big power-assisted district straight line, and promptly abscissa is k
4sThe slope at place equals g
3The point of connection place first derivative of this section quadratic curve and saturation region straight line is continuous, and promptly slope equals 0.
9. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 3 is characterized in that, the assist torque value perseverance in the described saturation region scope is T
Amax, promptly curvilinear equation is: T
a=T
Amax
10. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 8 is characterized in that, under the continuous situation of the point of connection place first derivative that satisfies buffer zone quadratic curve and saturation region straight line, and parameter k
4wAnd T
AmaxThere is following coupled relation:
Select T
AmaxAs adjustable key parameter, and k
4wBy calculating, not as adjustable parameters.
11. the electric boosting steering system with the individually adjusted shaped form assist characteristic of parameter according to claim 1, it is characterized in that, carry out linear interpolation by benchmark assist characteristic curve and can obtain assist characteristic curve in the full vehicle speed range the N of designed adjustment (N for greater than 0 integer) the corresponding different speed of a motor vehicle of bar.
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|---|---|---|---|
| CN2008102020697A CN101722980B (en) | 2008-10-31 | 2008-10-31 | Electric power steering system with individually adjustable-parameter and curve-type power characteristic |
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|---|---|---|---|
| CN2008102020697A CN101722980B (en) | 2008-10-31 | 2008-10-31 | Electric power steering system with individually adjustable-parameter and curve-type power characteristic |
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| Publication Number | Publication Date |
|---|---|
| CN101722980A true CN101722980A (en) | 2010-06-09 |
| CN101722980B CN101722980B (en) | 2012-01-04 |
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| CN102030034A (en) * | 2010-09-17 | 2011-04-27 | 杭州正强电子技术有限公司 | Electric power steering assistance control method |
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| GB9806969D0 (en) * | 1998-04-01 | 1998-06-03 | Lucas Ind Plc | Improvements relating to vehicle steering systems |
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