CN102530056A - Self-adjusting method for electric auxiliary steering system - Google Patents
Self-adjusting method for electric auxiliary steering system Download PDFInfo
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- CN102530056A CN102530056A CN2010106171551A CN201010617155A CN102530056A CN 102530056 A CN102530056 A CN 102530056A CN 2010106171551 A CN2010106171551 A CN 2010106171551A CN 201010617155 A CN201010617155 A CN 201010617155A CN 102530056 A CN102530056 A CN 102530056A
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Abstract
The invention provides a self-adjusting method for an electric auxiliary steering system, which can carry out self-normalizing and adjusting motions on a distortion signal of a sensor, so that stable steering hand feel is maintained, and the robustness and the effects of a steering property of the electric auxiliary steering system are improved. A self-normalizing method comprises a signal bias compensation strategy and a signal null point self-adjusting strategy. Whether to carry out the self-normalizing motion or not is selected by setting a judging strategy. The judging strategy comprises judgment of sensor power supply, judgment of sensor correctness and judgment of starting condition of self-normalizing. The correctness of sensing of the sensor can be improved by using the self-adjusting method, so that the existing steering auxiliary property is maintained and the robustness of the electric auxiliary steering system is enhanced.
Description
Technical field
The present invention is the self-adjusting process of relevant a kind of electronic assisted diversion (EPS) system, is meant a kind of EPS oneself adjusting process that can automatically the sensor signal be carried out regular adjustment action especially.
Background technology
In order to reduce the burden that the driver operates steering swivel system, (Hydraulic Power Steering, HPS) system originate as auxiliary power smooth-going hydraulic power assisted diversion and employing is exerted oneself greatly, moved in early days.But shortcoming is: the hydraulic tubing of HPS system leaks easily, and the friction of hydraulic oil and pipeline gives birth to heat easily, and its character is changed, moreover also shortcoming such as complicacy comparatively of hydraulic tubing.Therefore, (Electric Power Steering, EPS) system replaces traditional HPS system with electronic assisted diversion gradually in recent years.
Wherein, The running of EPS system is via the transmission between electric signal; To accomplish the running of steering swivel system, compared to the HPS system, the EPS system can omit hydraulic pressure group Pu, oil resevoir and oil pipeline; And be used for transmission engine power to drive the belt pulley system at group Pu, so have lower manufacturing cost and maintenance cost.In addition, the advantage of EPS system comprises can be different according to driving condition, and it is auxiliary to give different power sizes; And only turn at needs and just make the motor start when auxiliary, making that the handling maneuver of steerman is simpler, vehicle reaction is rapider, and therefore, the standard that the EPS system becomes every vehicle sooner or later is equipped with.
Because can be applied to sensors such as torsion, electric current in the EPS system, the signal of sensor is very huge for the influence that turns to feel, therefore, promptly accomplishes by vehicle the regular adjustment action of sensor in the EPS system before dispatching from the factory.But after vehicle dispatches from the factory; Variation along with condition of service; Can decay be arranged along with the skew of installation site or long-term use like sensor, all can produce signal error amount slightly, must measure sensor earlier with manual work; Compensating the signal error amount, is setting value or preferable setting value when dispatching from the factory with adjustment again; Or the influence of surrounding environment, like temperature; And sensor supply power supply problem of unstable, all possibly cause auxiliary torque mistake or auxiliary force discontinuous and influence the EPS system performance.In addition, the EPS system when entrucking, the normalization of the sensor signal adjustment that all takes time, and after the volume production, at the totalling of sensor normalization time of each EPS system, spent manpower or time cost are considerable.Therefore, how to solve the sensor power source change and the problem that lets EPS lose efficacy, and the robustness that how to promote the EPS system is a problem demanding prompt solution.
In view of this, the present invention satisfies the disappearance to above-mentioned prior art, proposes a kind of self-adjusting process of electronic assist steering system, effectively to overcome these above-mentioned problems.
Summary of the invention
Main purpose of the present invention is providing a kind of self-adjusting process of electronic assist steering system; It can carry out the distortion signal of sensor self-regular adjustment action; To keep the stable feel that turns to, promote the robustness of electronic assist steering system and the effect of turning efficiency.
Another object of the present invention is providing a kind of self-adjusting process of electronic assist steering system; It utilizes signal bias compensation strategy; Can promote the accuracy of sensor sensing, to keep original robustness that turns to ilities and strengthen electronic assist steering system.
A purpose more of the present invention is providing a kind of self-adjusting process of electronic assist steering system, can solve existing must labor time and human cost, with the effect of the regular adjustment action of carrying out the sensor signal.
For reaching above-mentioned purpose; The present invention provides a kind of self-adjusting process of electronic assist steering system, comprises the supply power values of detecting at least one sensing module, and judges whether the supply power values meets a supply Power Supplies Condition; If not; Then stop electronic assist steering system running, if then judge whether normal operation of sensing module.If sensing module running mal is then carried out an additional function by electronic assist steering system and is switched; If the sensing module running is normal; Judge that then whether sensing module meets a preset self-adjustment entry condition, if do not meet, then uses the last time self-adjustment value of sensing module; Carry out the functional operation of sensing module by electronic assist steering system; If meet, promptly set the new self-adjustment value of sensing module, carry out a regular adjustment action by electronic assist steering system.
Below explain in detail through specific embodiment, when the effect that is easier to understand the object of the invention, technology contents, characteristics and is reached.
Description of drawings
Fig. 1 is an Organization Chart of the present invention;
Fig. 2 is a flow chart of steps of the present invention.
Fig. 3 is the flow chart of steps of current sensor oneself adjusting process of the present invention;
Fig. 4 judges the flow chart of steps whether preset self-adjustment entry condition is set up for current sensor of the present invention;
Fig. 5 is a current waveform skew adjustment scheme drawing of the present invention;
Fig. 6 is a current waveform ratio adjustment scheme drawing of the present invention;
Fig. 7 is the flow chart of steps of torsion sensing device oneself adjusting process of the present invention;
Fig. 8 is the self-adjustment scheme drawing of voltage excursion compensation of the present invention;
Fig. 9 is the normal operating state scheme drawing for torsion sensing device of the present invention;
Figure 10 judges the flow chart of steps whether preset self-adjustment entry condition is set up for torsion sensing device of the present invention.
Description of reference numerals: 10-driver module; The 12-sensing module; The 14-filter circuit; The 16-voltage conversion circuit; The 18-microprocessor; The 20-voltage-sensor; The 22-current sensor; 24-torsion sensing device.
The specific embodiment
Electronic assisted diversion of the present invention (EPS) system is applied on the vehicle, and applied each sensor power source change or unusual in the electronic assist steering system all can cause the distortion of sensing signal and makes the misoperation of EPS system.Therefore how to avoid taking place the problems referred to above, consider and promote EPS system robustness at this to EPS thrashing safety and explain that please consult Fig. 1 and Fig. 2 in the lump, Fig. 1 is an Organization Chart of the present invention, Fig. 2 is a flow chart of steps of the present invention.Electronic assist steering system comprises a driver module 10, at least one sensing module 12, a filter circuit 14, a voltage conversion circuit 16 and a microprocessor 18.Driver module 10 is to connect on the steering swivel system of a vehicle; Rotate with an auxiliary bearing circle in order to the output steering torque; Wherein driver module 10 comprises a motor driver, motor, reductor; Motor driver connects motor and links the reductor of vehicle steering mechanism, and motor driver is that the control signal according to microprocessor 18 operates with CD-ROM drive motor, rotates with auxiliary bearing circle.Current sensor 22 in the sensing module 12 is to connect driver module 10, and in order to the operating state of detecting driver module 10, and the torsion sensing device 24 in the sensing module 12 is to link steering hardware, in order to the torque value of detecting driver steering wheel rotation.Filter circuit 14 connects sensing module 12, and filter circuit 14 can be low-pass filter circuit, in order to the noise in the supply power signal that filters sensing module 12.Voltage conversion circuit 16 connects filter circuit 14 and microprocessor 18.At first; Execution in step S10 utilizes the supply power signal of a voltage-sensor 20 with detecting sensing module 12, and wherein voltage-sensor 20 connects sensing module 12 and filter circuit 14; Voltage conversion circuit 16 capable of using; (analog to digital ADC) will supply power signal and convert the supply power values into, judge by microprocessor 18 whether the supply power values meets a supply Power Supplies Condition like the analog-to-digital circuit; This purpose is: before self-signal adjustment, confirm earlier whether the power supply supply of sensing module 12 is normal condition.If do not meet the supply Power Supplies Condition, then execution in step S11 stops an electronic assist steering system running; If meet the supply Power Supplies Condition, then execution in step S12 judges by microprocessor 18 whether the supply power supply is predetermined supply power values, and this is the optimal operation state.If do not meet predetermined supply power supply status, then execution in step S13 carries out the voltage bias compensation of sensing module 12; If meet the state or the execution of step S13 of predetermined supply power values; Execution in step S14 then; Judging whether normal operation of sensing module 12 by microprocessor 18, is to judge that sensing module 12 is whether in a normal operation range, as the foundation that judges whether normal operation at this.If not normal operation, then execution in step S16 carries out an additional function by electronic assist steering system and switches, and holds the back explanation.If sensor module 12 is normal operation; Execution in step S18 then; Judge by microprocessor 18 whether sensing module 12 and vehicle wheel speed, the speed of a motor vehicle and turning angle of steering wheel meet a preset self-adjustment entry condition, as the basis for estimation of carrying out preset self-adjustment entry condition.If not, then execution in step S20 by the last time self-adjustment value of microprocessor 18 use sensing modules 12, operates with the sensing function of carrying out sensing module 12; If execution in step S22 then sets the new self-adjustment value of sensing module 12, carries out a regular adjustment action by the microprocessor in the electronic assist steering system 18.
Wherein, Sensing module 12 comprises at least one current sensor 22 or at least one torsion sensing device 24, in step S10, no matter sensing module 12 is current sensor 22 or torsion sensing device 24; All be to utilize voltage-sensor 20 routinely to measure the supply power signal of sensing module 12; Therefore can produce many written confessions answers power signal, through voltage conversion circuit 16 these a little supply power signals is changed many written confessions again and answers power values, and store it.Whether these a little supply power values not only can be used as the supply power supply of judging sensing module 12 normal, can be used as the usefulness of subsequent voltage bias compensation again.Because the self-regular adjustment mode of electronic assist steering system can be different with the characteristic of torsion sensing device 24 because of current sensor 22; Therefore after step S12; Embodiments such as relevant voltage bias compensation policy, sensing module normal operation whether determination strategy, self-adjustment entry condition determination strategy and additional function switching are difference to some extent also, the follow-up embodiment that self-signal normalization adjustment will be detailed respectively to current sensor 22 and torsion sensing device 24.
If sensing module 12 is to comprise at least one current sensor 22, see also Fig. 3, be the flow chart of steps of current sensor oneself adjusting process of the present invention.In step S24, utilize voltage-sensor 20 to measure the supply power signal of current sensor 22, will supply power signal through voltage conversion circuit 16 again and convert the supply power values into; Judge by microprocessor 18 whether the supply power values meets a supply Power Supplies Condition; For example supplying power values must just be the normal power source supply status, if do not meet the supply Power Supplies Condition between the supply Power Supplies Condition of 4.5V-5.5V; Then execution in step S26 stops an electronic assist steering system running.Because the supply power supply of current sensor 22 can change with condition of service to some extent, therefore be further to carry out the voltage bias compensation policy, make current sensor 22 can keep the running performance of best supply power values; Therefore, if meet the supply Power Supplies Condition, then execution in step S28 judges by microprocessor 18 whether the supply power values of current sensor 22 meets a predetermined supply power values, and for example predetermined supply power values is 5V, and this is best running performance.When if the supply power values does not meet positive 5V; Execution in step S30 then, because voltage-sensor 20 is for routinely measuring the supply power signal of current sensor 22, therefore can produce many written confessions answers power signal; Through voltage conversion circuit 16 these a little supply power signals are changed many written confessions again and answer power values; And store it, so definable goes out the supply power values of current sensor 22, and gets the half value of supply power values.The execution in step that continues S32, the conversion half value is an electric current neutral value; Last execution in step S34 is set at electronic assist steering system with the electric current neutral value and carries out normalized current offset compensation; By the embodiment of step S30, can accomplish the regular adjustment action of the current offset compensation of current sensor 22 to step S34.Continue; If the supply power values meets positive 5V or step S34 when complete, execution in step S36 then judges whether normal operation of current sensor 22; Wherein current sensor 22 is as the foundation that judges whether normal operation with a normal operation range; Present embodiment system uses two current sensors 22, detects the electric current of motor U, V phase respectively, judges by microprocessor 18 whether two current sensors 22 satisfy following two normal operation range simultaneously:
V
phaseU：0.5V-4.5V
V
phaseV：0.5V-4.5V
When if current sensor 22 operates for mal; Execution in step S38 then, operating mode switches to the additional function that electric current is opened the loop operating mode from the electric current loop circuit with electronic assist steering system by the microprocessor 18 of electronic assist steering system, though current sensor 22 produces the mal operating state of current anomalies; But through the additional function change action; Still can let electronic assist steering system continue running, still, ilities is slightly a little bit poorer.When if current sensor 22 is normal operation; Execution in step S40 then; Because actuating current still possibly change with condition of service to some extent, therefore need further to carry out self-adjustment entry condition determination strategy, whether meet a preset self-adjustment entry condition in order to judge current sensor 22; Please cooperate Fig. 4 simultaneously; For the flow chart of steps of judging among the step S40 whether preset self-adjustment entry condition is set up, in step S401, judge whether a DC side electric current of current sensor 22 is zero; Wherein the principle of DC side current sensor is to utilize Ohm's law; Bury the resistance unit of a known specification underground at driver module 10 ends, and the voltage-sensor 20 of arranging in pairs or groups is tried to achieve the electric current that vehicle accumulator inputs to driver module 10 thus to detect the voltage difference at these resistance unit two ends; When the motor of driver module 10 is in the not state of running, this moment, the current value convergence of DC side electric current was zero.Please consult Fig. 5 simultaneously, for current waveform of the present invention skew adjustment scheme drawing, if the DC side electric current is zero, execution in step S402 then, many current values of record current sensor 22 are for example got many current values that cycle a period of time is measured; Execution in step S403 again; Calculate the aviation value of these a little current values; Obtaining current waveform biasing adjustment value, and set the new self-adjustment value of current waveform biasing adjustment value, can judge current sensor 22 and preset self-adjustment entry condition for meeting as current sensor 22; Last execution in step S42 carries out regular adjustment action by the microprocessor 18 of electronic assist steering system.If the DC side electric current is non-vanishing, then execution in step S404 judges whether the bearing circle of vehicle continues to rotate; If not; Execution in step S44 then uses the last time self-adjustment value of current sensor 22, is carried out the functional operation of current sensors 22 by the microprocessor 18 of electronic assist steering system.If bearing circle continues to rotate, then execution in step S405 judges whether the torque value of bearing circle is fixed value, if not fixed value, then execution in step S44; If fixed value, then execution in step S406 judges whether electronic assist steering system is electric current loop circuit operating mode, if not, and execution in step S44 then.Please consult Fig. 6 simultaneously, be current waveform ratio adjustment scheme drawing of the present invention,, or current offset (offset) phenomenon is arranged during the electric current input, make U, the V phase waveform is inconsistent and influence turns to ilities because current sensor 22 sensings own have error; Therefore; If current sensor 22 is the loop circuit operating mode; Then execution in step S407 notes down electric current U, the V phase waveform cycle of current sensor 22, and finds out the limit of electric current U, V phase waveform respectively; For example in Fig. 6, indicating " ● " is the crest of electric current U phase and the limit of trough, and indicating " zero " is the crest of electric current V phase and the limit of trough; The execution in step that continues S408 calculates the limit of electric current U, V phase waveform, obtaining a waveform ratio adjustment value, and waveform ratio adjustment value is set at the new self-adjustment value of current sensor 22.Last execution in step S42 is adjusted into the identical regular adjustment action of ratio by the microprocessor 18 of electronic assist steering system with electric current U, V phase waveform.
If sensing module 12 is to comprise at least one torsion sensing device 24, see also Fig. 7, be the flow chart of steps of torsion sensing device oneself adjusting process of the present invention.Please consult Fig. 8 simultaneously, be torsion sensing device oneself adjustment scheme drawing of the present invention, the corresponding voltage value of zero torsion is converted to zero torsion corresponding to zero voltage value.In step S46, utilize voltage-sensor 20 to measure the supply power signal of torsion sensing device 24, will supply power signal through voltage conversion circuit 16 again and convert the supply power values into; Judge by microprocessor 18 whether the supply power values meets a supply Power Supplies Condition; For example supplying power values must just be the normal power source supply status, if do not meet the supply Power Supplies Condition between the supply Power Supplies Condition of 4.5V-5.5V; Then execution in step S48 stops an electronic assist steering system running.Owing to the power supply of torsion sensing device 24 can produce biasing along with the vehicle installation site is different or long-term use has decay; The capital produces signal error amount slightly; Therefore be further execution voltage bias compensation policy, the optimal operation performance that torsion sensing device 24 can be kept supply power values instantly.If meet the supply Power Supplies Condition, then execution in step S50 judges by microprocessor 18 whether the supply power values of torsion sensing device 24 meets a predetermined supply power values, and for example predetermined supply power values is 5V, and this is best running performance.When if the supply power values does not meet positive 5V; Execution in step S52 then, because voltage-sensor 20 is for routinely measuring the supply power signal of torsion sensing device 24, therefore can produce many written confessions answers power signal; Through voltage conversion circuit 16 these a little supply power signals are changed many written confessions again and answer power values; And store it, so definable goes out the supply power values of torsion sensing device 24, and gets the half value of supply power values.The execution in step that continues S54; Zero torsion magnitude of voltage under foundation one initial provision power values and half value and the initial provision power supply is to calculate a voltage bias value; Wherein microprocessor 18 is to utilize voltage bias compensation algorithm to calculate the new zero pairing magnitude of voltage of torsion of voltage bias, and voltage bias compensation equation is as follows:
Wherein, V
New_sensor_powerRepresent the supply power values at that time of torsion sensing device 24, V
Initial_zero-torqueRepresent the zero torsion pairing magnitude of voltage of torsion sensing device 24 under the initial provision power values, V
Initial_sensor_powerRepresent the initial provision power values of torsion sensing device 24; V
Initial_zeor-torqueBe to be the systemic presupposition value.The execution in step that continues S56 is set at electronic assist steering system with the value at new zero point of voltage bias and carries out normalized voltage bias compensation; By the embodiment of step S52, can accomplish the regular adjustment action of the voltage bias compensation of torsion sensing device 24 to step S54.
When if the supply power values meets positive 5V or step S56 when accomplishing; Execution in step S58 then; Judge whether normal operation of torsion sensing device 24; Wherein torsion sensing device 24 be with a normal operation range as the foundation that judges whether normal operation, please consult Fig. 9 simultaneously, for torsion sensing device of the present invention is the normal operating state scheme drawing.The described torsion sensing device 24 of present embodiment itself possesses the functional module of two groups of symmetrical torsion sensings, and the steering torque of the bearing circle of detecting vehicle respectively judges by microprocessor 18 whether torsion sensing device 24 satisfies following three normal operation range simultaneously:
T
main：0.1-0.9V
sensor?power
T
sub：0.1-0.9V
sensor?power
T
main+T
sub＝V
sensor?power
T wherein
MainBe torsion sensing device 24, T
SubBe another torsion sensing device 24,0.1-0.9V
Sensor power10%-90% input voltage percentum for the torsion sensing device.
If when torsion sensing device 24 operated for mal, then execution in step S60 directly closed electronic assist steering system by the microprocessor 18 of electronic assist steering system, does not provide to turn to auxiliary force.When if torsion sensing device 24 is normal operation; Execution in step S62 then; Because the supply power supply still possibly change with condition of service to some extent, therefore need further to carry out self-adjustment entry condition determination strategy, whether meet a preset self-adjustment entry condition in order to judge torsion sensing device 24; Please cooperate Figure 10 simultaneously; For the flow chart of steps of judging among the step S62 whether preset self-adjustment entry condition is set up, in step S621, judge by microprocessor 18 whether the speed of a motor vehicle of vehicle is non-vanishing; If not; Execution in step S64 then uses the last time self-adjustment value of torsion sensing device 24, is carried out the functional operation of torsion sensing device 24 by electronic assist steering system; If then execution in step S622 judges whether the left and right sides wheel speed of vehicle is identical.If two side wheel speed of vehicle are inequality, then execution in step S64; If the wheel speed of vehicle is identical, execution in step S623 then, whether the wheel steering angle of judging vehicle is fixed and is not changed.If steering angle changes, then execution in step S64; Do not change if steering angle is fixing, execution in step S624 then, whether the steering torque of judging torsion sensing device 24 is fixed and is not changed.If steering torque changes, then execution in step S64; Do not change if steering torque is fixing; Execution in step S625 then; Foundation is the steering torque magnitude of voltage of steering angle to produce instantly; And set the new self-adjustment value of steering torque magnitude of voltage as torsion sensing device 24, and execution in step S66, the regular adjustment action of steering torque bias compensation carried out by the microprocessor 18 of electronic assist steering system.
In sum, the present invention can carry out the distortion signal of current sensor or torsion sensing device self-regular adjustment action, with the robustness that promotes electronic assist steering system and the effect of turning efficiency; In addition; Signal bias compensation strategy more capable of using; Solving sensor power source change or unusual and cause sensing signal out-of truth problem, and then promote the accuracy of sensor sensing, to keep original robustness that turns to ilities or strengthen electronic assist steering system.Further, can solve and existing must send vehicle back to depot, move the problem of spent plenty of time and human cost with the regular adjustment of carrying out the sensor signal.
More than explanation is just illustrative for the purpose of the present invention, and nonrestrictive, those of ordinary skills understand; Under the situation of spirit that does not break away from following accompanying claims and limited and scope, can make many modifications, change; Or equivalence, but all will fall in protection scope of the present invention.
Claims (10)
1. the self-adjusting process of an electronic assist steering system is characterized in that, comprises the following steps:
(A) the supply power values of detecting sensing module, and judge whether said supply power values meets a supply Power Supplies Condition, if not, then stops electronic assist steering system running, if, execution in step (B) then;
(B) judge whether the supply power values is a predetermined supply power values, if not, then carries out the voltage bias compensation, if, execution in step (C) then;
(C) judge the whether normal operation of said sensing module, if not, then carry out an additional function and switch by said electronic assist steering system, if, execution in step (D) then; And
(D) judge whether said sensing module meets a preset self-adjustment entry condition; If not; Then use the last time self-adjustment value of said sensing module, the sensing function of being carried out said sensing module by said electronic assist steering system operates, if; Set the new self-adjustment value of said sensing module, carry out a regular adjustment action by said electronic assist steering system.
2. the self-adjusting process of electronic assist steering system according to claim 1 is characterized in that, said sensing module comprises at least one current sensor or at least one torsion sensing device.
3. the self-adjusting process of electronic assist steering system according to claim 2; It is characterized in that; Said current sensor and torsion sensing device are to utilize a voltage-sensor to measure a supply power signal, through a voltage conversion circuit said supply power signal are changed said supply power values again.
4. the self-adjusting process of electronic assist steering system according to claim 2; It is characterized in that said sensing module is to comprise at least one current sensor, and in said step (B); Said supply power values does not meet said predetermined supply power values, more comprises the following steps:
(B1) define the said supply power values of said current sensor, and get the half value of said supply power values;
(B2) the said half value of conversion is an electric current neutral value; And
(B3) said electric current neutral value is set at said electronic assist steering system and carries out normalized current offset compensation.
5. the self-adjusting process of electronic assist steering system according to claim 2; It is characterized in that; Said current sensor is as the foundation that judges whether normal operation, if judge then whether said current sensor meets said preset self-adjustment entry condition with a normal operation range; If not, then the current sensor additional function that operating mode switches to out the loop operating mode from the loop circuit is switched by said electronic assist steering system.
6. the self-adjusting process of electronic assist steering system according to claim 5 is characterized in that, judges that whether said preset self-adjustment entry condition is set up, and more comprises the following steps:
Whether a DC side electric current of (D1) judging said current sensor is zero, if, execution in step (D2) then, if not, execution in step (D4) then;
(D2) many current values of the said current sensor of record;
(D3) aviation value of the more said current value of calculating; To obtain current waveform biasing adjustment value; And set the said new self-adjustment value of current waveform biasing adjustment value as said current sensor, carry out the regular adjustment action of current offset compensation by said electronic assist steering system;
(D4) judge that whether a bearing circle continues to rotate, if not, then use the said last time self-adjustment value of said current sensor, carry out the functional operation of said current sensor by said electronic assist steering system, if, execution in step (D5) then;
Whether the torque value of (D5) judging said bearing circle is fixed value, if not, then uses the said last time self-adjustment value of said current sensor, carries out the functional operation of said current sensor by said electronic assist steering system, if, execution in step (D6) then;
(D6) judge whether said electronic assist steering system is electric current loop circuit operating mode; If not, then use the last time self-adjustment value of said current sensor, carry out the functional operation of said current sensor by said electronic assist steering system; If, execution in step (D7) then;
(D7) note down electric current U, the V phase waveform cycle of said current sensor, and find out the limit of said electric current U, V phase waveform respectively; And
(D8) the said limit of the said electric current U of calculating, V phase waveform; To obtain a waveform ratio adjustment value; And said waveform ratio adjustment value is set at the said new self-adjustment value of said current sensor, by said electronic assist steering system said electric current U, V phase waveform are adjusted into the identical regular adjustment action of ratio.
7. the self-adjusting process of electronic assist steering system according to claim 2; It is characterized in that said sensing module is to comprise at least one torsion sensing device, and in said step (B); Said supply power values does not meet said preset supply power values, more comprises the following steps:
(b1) define the supply power values instantly of said torsion sensing device, and get the half value of said supply power values;
(b2) the zero torsion magnitude of voltage under foundation one initial provision power values and said half value and the initial provision power supply is to calculate a voltage bias value; And
(b3) said voltage bias value is set at said electronic assist steering system and carries out normalized voltage bias compensation.
8. the self-adjusting process of electronic assist steering system according to claim 7 is characterized in that, said step (b2) is to utilize voltage bias compensation algorithm to calculate said voltage bias value, and said voltage bias compensation equation is following:
Wherein, V
Nwe_sensor_powerRepresent said torsion sensing device supply power values instantly, V
Initial_zero-torqueRepresent the pairing magnitude of voltage of zero torsion under the initial provision power supply of said torsion sensing device, V
Initial_sensor_powerRepresent the initial provision power values of said torsion sensing device.
9. the self-adjusting process of electronic assist steering system according to claim 2; Wherein said torsion sensing device is as the foundation that judges whether normal operation with a normal operation range; If; Judge then whether said torsion sensing device meets said preset self-adjustment entry condition, if not, then close the additional function of said torsion sensing device by said electronic assist steering system.
10. the self-adjusting process of electronic assist steering system according to claim 9 is characterized in that, judges that whether said torsion sensing device meets said preset self-adjustment entry condition, more comprises the following steps:
(d1) judge whether the speed of a motor vehicle of a vehicle is non-vanishing, if then execution in step (d2) if not, is then used the said last time self-adjustment value of said torsion sensing device, is carried out the functional operation of said torsion sensing device by said electronic assist steering system;
(d2) judge whether the left and right sides wheel speed of said vehicle is identical, if then execution in step (d3) if not, is then used the said last time self-adjustment value of said torsion sensing device, is carried out the functional operation of said torsion sensing device by said electronic assist steering system;
(d3) judging that the wheel steering angle of said vehicle is whether fixing does not change; If, execution in step (d4) then, if not; Then use the said last time self-adjustment value of said torsion sensing device, carry out the functional operation of said torsion sensing device by said electronic assist steering system;
(d4) judging that the steering torque of said torsion sensing device is whether fixing does not change; If, execution in step (d5) then, if not; Then use the said last time self-adjustment value of said torsion sensing device, carry out the functional operation of said torsion sensing device by said electronic assist steering system; And
(d5) according to when next steering torque magnitude of voltage, set the new self-adjustment value of said steering torque magnitude of voltage, carry out the regular adjustment action of said steering torque bias compensation by said electronic assist steering system as said torsion sensing device.
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