CN102530056B - Self-adjusting method for electric auxiliary steering system - Google Patents
Self-adjusting method for electric auxiliary steering system Download PDFInfo
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- CN102530056B CN102530056B CN2010106171551A CN201010617155A CN102530056B CN 102530056 B CN102530056 B CN 102530056B CN 2010106171551 A CN2010106171551 A CN 2010106171551A CN 201010617155 A CN201010617155 A CN 201010617155A CN 102530056 B CN102530056 B CN 102530056B
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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, refers to especially a kind of EPS oneself adjusting process that can automatically the sensor signal be carried out to regular adjustment action.
Background technology
The early stage burden of steering swivel system that operates in order to reduce the driver, and adopt hydraulic power assisted diversion (Hydraulic Power Steering, the HPS) system large, that motion is smooth-going of exerting oneself, as auxiliary power, originate.But shortcoming is: the hydraulic tubing of HPS system easily leaks, and the easy heat-dissipating of hydraulic oil and pipeline friction, and its character is changed, moreover the also shortcoming such as comparatively complicated of hydraulic tubing.Therefore, with electronic assisted diversion (Electric Power Steering, EPS) system, replace traditional HPS system gradually in recent years.
Wherein, the running of EPS system is via the transmission between electric signal, to complete the running of steering swivel system, compared to the HPS system, the EPS system can be omitted hydraulic pressure side Pu, oil resevoir and oil pipeline, and be used for transmission engine power to drive the belt pulley system at side Pu, therefore have lower manufacturing cost and maintenance cost.In addition, the advantage of EPS system comprises and can, according to the driving condition difference, assist and give different power sizes; And only at needs, turn to while assisting and just make the motor start, make the handling maneuver of steerman simpler, vehicle reaction is rapider, and therefore, the standard that the EPS system becomes every vehicle sooner or later is equipped with.
Owing in the EPS system, can being applied to the sensors such as torsion, electric current, the signal of sensor is very huge for the impact that turns to feel, therefore before vehicle dispatches from the factory, namely completes the regular adjustment action of sensor in the EPS system.But after vehicle dispatches from the factory, variation along with service condition, as sensor, can or use for a long time and decay is arranged along with the skew of installation site, capital produces signal error amount slightly, must be manually first to measure sensor, again the signal error amount is compensated, take setting value or the preferably setting value of adjustment when dispatching from the factory; Or the impact of surrounding environment, as temperature; And the unsettled problem of sensor supply power supply, all may cause auxiliary torque mistake or auxiliary force discontinuous and affect the EPS system performance.In addition, the EPS system when entrucking, the normalization of the sensor signal adjustment that all takes time, and after 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 allows EPS lose efficacy, and the robustness that how to promote the EPS system is problem demanding prompt solution.
In view of this, the present invention, then for the disappearance of above-mentioned prior art, proposes a kind of self-adjusting process of electric auxiliary 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 electric auxiliary steering system, it can carry out the distortion signal of sensor self-regular adjustment action, to maintain the stable feel that turns to, promote the robustness of electric auxiliary steering system and the effect of turning efficiency.
Another object of the present invention is providing a kind of self-adjusting process of electric auxiliary steering system, it utilizes signal bias compensation strategy, can promote the accuracy of sensor sensing, to maintain original robustness that turns to ilities and strengthen electric auxiliary steering system.
A further object of the present invention is providing a kind of self-adjusting process of electric auxiliary steering system, can solve existing must expend plenty of time and human cost, with the effect of the regular adjustment action of carrying out the sensor signal.
In order to achieve the above object, the invention provides a kind of self-adjusting process of electric auxiliary steering system, comprise the supply power values of detecting at least one sensing module, and whether judgement supply power values meets a supply Power Supplies Condition, if not, stop an electric auxiliary steering system running, if judge whether normal operation of sensing module.If sensing module running mal, carry out an additional function switching by electric auxiliary steering system; If the sensing module running is normal, judge whether sensing module meets a default self-adjustment entry condition, if do not meet, use the last time self-adjustment value of sensing module, by electric auxiliary steering system, carried out the functional operation of sensing module, if meet, namely set the new self-adjustment value of sensing module, by electric auxiliary steering system, carry out a regular adjustment action.
Below by specific embodiment, illustrate in detail, when the effect that is easier to understand purpose of the present invention, technology contents, characteristics and reaches.
The accompanying drawing explanation
Fig. 1 is Organization Chart of the present invention;
Fig. 2 is 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 is the flow chart of steps whether default self-adjustment entry condition of current sensor judgement of the present invention is set up;
Fig. 5 is current waveform skew adjustment schematic diagram of the present invention;
Fig. 6 is current waveform ratio adjustment schematic diagram of the present invention;
Fig. 7 is the flow chart of steps of torsion sensor oneself adjusting process of the present invention;
Fig. 8 is the self-adjustment schematic diagram of voltage excursion compensation of the present invention;
Fig. 9 is that torsion sensor of the present invention is the normal operating state schematic diagram;
Figure 10 is the flow chart of steps whether default self-adjustment entry condition of torsion sensor judgement of the present invention is set up.
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; The 24-torsion sensor.
The specific embodiment
Electronic assisted diversion of the present invention (EPS) system is to be applied on a vehicle, and applied each sensor power source change or abnormal in electric auxiliary steering system all can cause the distortion of sensing signal and makes the misoperation of EPS system.Therefore how to avoid occurring the problems referred to above, at this, consider safely and promote EPS system robustness for EPS thrashing and illustrate, see also Fig. 1 and Fig. 2, Fig. 1 is Organization Chart of the present invention, and Fig. 2 is flow chart of steps of the present invention.Electric auxiliary 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, in order to export steering torque to assist a rotating of steering wheel, wherein driver module 10 comprises a motor driver, motor, reductor, the reductor of motor driver connecting motor and connection vehicle steering hardware, motor driver is that the control signal according to microprocessor 18 operates with CD-ROM drive motor, to assist rotating of steering wheel.A current sensor 22 in sensing module 12 is to connect driver module 10, and in order to detect the operating state of driver module 10, and the torsion sensor 24 in sensing module 12 is to link steering hardware, in order to detect the torque value of driver's 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 step S10, utilize the supply power signal of a voltage-sensor 20 with detecting sensing module 12, wherein voltage-sensor 20 connects sensing module 12 and filter circuit 14, can utilize voltage conversion circuit 16, as analog-to-digital circuit (analog to digital, ADC) will supply power signal and be converted to the supply power values, by microprocessor 18 judgement supply power values, whether meet a supply Power Supplies Condition, this purpose is: before self-signal adjustment, determine first whether the power supply supply of sensing module 12 is normal condition.If do not meet the supply Power Supplies Condition, perform step S11, stop an electric auxiliary steering system running; If meet the supply Power Supplies Condition, perform step S12, by microprocessor 18 judgement supply power supplys, whether be predetermined supply power values, this is the optimal operation state.If do not meet predetermined supply power supply status, perform step S13, carry out the voltage bias compensation of sensing module 12; If meet state or the execution of step S13 of predetermined supply power values, perform step S14, by microprocessor 18, judging whether normal operation of sensing module 12, 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, perform step S16, carry out an additional function switching, explanation after holding by electric auxiliary steering system.If sensor module 12 is normal operation, perform step S18, by microprocessor 18, judge whether sensing module 12 and vehicle wheel speed, the speed of a motor vehicle and turning angle of steering wheel meet a default self-adjustment entry condition, as the basis for estimation of carrying out default self-adjustment entry condition.If not, perform step S20, by microprocessor 18, used the last time self-adjustment value of sensing module 12, to carry out the sensing function running of sensing module 12; If, perform step S22, set the new self-adjustment value of sensing module 12, the microprocessor 18 in electric auxiliary steering system is carried out a regular adjustment action.
Wherein, sensing module 12 comprises at least one current sensor 22 or at least one torsion sensor 24, in step S10, no matter sensing module 12 is current sensor 22 or torsion sensor 24, all 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, then by voltage conversion circuit 16, the many written confessions of this a little supply power signal conversion is answered to power values, and stores it.Whether these a little supply power values not only can be used as the supply power supply that judges sensing module 12 normal, can be used as again the use of subsequent voltage bias compensation.Because the regular adjustment mode of the oneself of electric auxiliary steering system can be different from the characteristic of torsion sensor 24 because of current sensor 22, therefore after step S12, the 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, follow-up in detail the embodiment of self-signal normalization adjustment will be described in detail respectively for current sensor 22 and torsion sensor 24.
If sensing module 12 is to comprise at least one current sensor 22, refer to 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, by voltage conversion circuit 16, will supply power signal again and be converted to the supply power values, by microprocessor 18 judgement supply power values, whether meet a supply Power Supplies Condition, for example supplying power values must, between the supply Power Supplies Condition of 4.5V-5.5V, be just the normal power source supply status, if do not meet the supply Power Supplies Condition, perform step S26, stop an electric auxiliary steering system running.Because the supply power supply of current sensor 22 can change to some extent with service condition, be therefore further to carry out the voltage bias compensation policy, make current sensor 22 can maintain the best operation performance of supplying power values; Therefore, if meet the supply Power Supplies Condition, perform step S28, judge 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 operation performance.When if the supply power values does not meet positive 5V, perform step S30, because voltage-sensor 20 is routinely to measure the supply power signal of current sensor 22, therefore can produce many written confessions answers power signal, by voltage conversion circuit 16, the many written confessions of this a little supply power signal conversion are answered to power values again, 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 step that continues S32, the conversion half value is an electric current neutral value; Finally perform step S34, the electric current neutral value is set as to electric auxiliary steering system and carries out normalized current offset compensation; By the embodiment of step S30 to step S34, can complete the regular adjustment action of the current offset compensation of current sensor 22.Continue, if the supply power values meets positive 5V or step S34 when complete, perform step S36, judge whether normal operation of current sensor 22, wherein current sensor 22 is to using a normal operation range as the foundation that judges whether normal operation, the present embodiment system is used two current sensors 22, detects respectively the electric current of motor U, V phase, judges by microprocessor 18 whether two current sensors 22 meet 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, perform step S38, microprocessor 18 by electric auxiliary steering system switches to from electric current loop circuit operating mode the additional function that electric current is opened the loop operating mode by electric auxiliary steering system, although the mal operating state that current sensor 22 generation currents are abnormal, but switch action by additional function, still can allow electric auxiliary steering system continue running, still, ilities slightly almost.When if current sensor 22 is normal operation, perform step S40, because actuating current still may change to some extent with service condition, therefore need further to carry out self-adjustment entry condition determination strategy, in order to judge current sensor 22, whether meet a default self-adjustment entry condition, please coordinate simultaneously Fig. 4, for the flow chart of steps whether self-adjustment entry condition is set up is preset in judgement in step S40, in step S401, whether a DC side electric current that judges current sensor 22 is zero, wherein the principle of DC side current sensor is to utilize Ohm's law, at driver module 10 ends, bury the resistance unit of a known specification underground, and collocation voltage-sensor 20 is to detect the voltage difference at these resistance unit two ends, try to achieve thus vehicle accumulator and input to the electric current of driver module 10, when the motor of driver module 10 is in the not state of running, now the current value convergence of DC side electric current is zero.Please consult simultaneously Fig. 5, for current waveform skew adjustment schematic diagram of the present invention, if the DC side electric current is zero, perform step S402, many current values of record current sensor 22, for example get many current values that cycle a period of time is measured; Perform step again S403, calculate the aviation value of these a little current values, to obtain a current waveform biasing adjustment value, and setting current waveform biasing adjustment value is as a new self-adjustment value of current sensor 22, can judge current sensor 22 for meeting default self-adjustment entry condition, finally perform step S42, carry out regular adjustment action by the microprocessor 18 of electric auxiliary steering system.If the DC side electric current is non-vanishing, perform step S404, judge whether the bearing circle of vehicle continues to rotate, if not, perform step S44, use the last time self-adjustment value of current sensor 22, by the microprocessor 18 of electric auxiliary steering system, carried out the functional operation of current sensor 22.If bearing circle continues to rotate, perform step S405, judge whether the torque value of bearing circle is fixed value, if not fixed value performs step S44; If fixed value, perform step S406, judge that whether electric auxiliary steering system is electric current loop circuit operating mode, if not, performs step S44.Please consult simultaneously Fig. 6, for current waveform ratio adjustment schematic diagram of the present invention, because the sensing of current sensor 22 own has error, or the electric current input time has current offset (offset) phenomenon, makes U, the V phase waveform is inconsistent and impact turns to ilities; Therefore, if current sensor 22 is the loop circuit operating mode, perform step S407, electric current U, the V phase waveform cycle of record current sensor 22, and find out respectively the limit of electric current U, V phase waveform, 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 step that continues S408, the limit of calculating electric current U, V phase waveform, to obtain a waveform ratio adjustment value, and be set as waveform ratio adjustment value the new self-adjustment value of current sensor 22.Finally perform step S42, by the microprocessor 18 of electric auxiliary steering system, electric current U, V phase waveform are adjusted into to the regular adjustment action that ratio is identical.
If sensing module 12 is to comprise at least one torsion sensor 24, refer to Fig. 7, be the flow chart of steps of torsion sensor oneself adjusting process of the present invention.Please consult simultaneously Fig. 8, for torsion sensor oneself adjustment schematic diagram 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 sensor 24, by voltage conversion circuit 16, will supply power signal again and be converted to the supply power values, by microprocessor 18 judgement supply power values, whether meet a supply Power Supplies Condition, for example supplying power values must, between the supply Power Supplies Condition of 4.5V-5.5V, be just the normal power source supply status, if do not meet the supply Power Supplies Condition, perform step S48, stop an electric auxiliary steering system running.Because the power supply of torsion sensor 24 can be setovered or use for a long time decay along with vehicle installation site difference be produced, capital produces signal error amount slightly, therefore be further execution voltage bias compensation policy, the optimal operation performance that torsion sensor 24 can be maintained instantly supply power values.If meet the supply Power Supplies Condition, perform step S50, by microprocessor 18, judge whether the supply power values of torsion sensor 24 meets a predetermined supply power values, and for example predetermined supply power values is 5V, and this is best operation performance.When if the supply power values does not meet positive 5V, perform step S52, because voltage-sensor 20 is routinely to measure the supply power signal of torsion sensor 24, therefore can produce many written confessions answers power signal, by voltage conversion circuit 16, the many written confessions of this a little supply power signal conversion are answered to power values again, and store it, so definable goes out the supply power values of torsion sensor 24, and gets the half value of supply power values.The execution step that continues S54, zero torsion magnitude of voltage under foundation one initial provision power values and half value and initial provision power supply is to calculate a voltage bias value, wherein microprocessor 18 is to utilize a voltage bias compensation algorithm to calculate the new zero corresponding 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 sensor 24, V
Initial_zero-torqueRepresent the zero torsion corresponding magnitude of voltage of torsion sensor 24 under the initial provision power values, V
Initial_sensor_powerRepresent the initial provision power values of torsion sensor 24; V
Initial_zeor-torqueBe to be the systemic presupposition value.The execution step that continues S56, be set as electric auxiliary steering system by the value at new zero point of voltage bias and carry out normalized voltage bias and compensate; By the embodiment of step S52 to step S54, can complete the regular adjustment action of the voltage bias compensation of torsion sensor 24.
If the supply power values is while meeting positive 5V or step S56 while completing, perform step S58, judge whether normal operation of torsion sensor 24, wherein torsion sensor 24 is to using a normal operation range as the foundation that judges whether normal operation, please consult simultaneously Fig. 9, for torsion sensor of the present invention is the normal operating state schematic diagram.The described torsion sensor 24 of the present embodiment, itself possess 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 sensor 24 meets 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
MainFor torsion sensor 24, T
subFor another torsion sensor 24,0.1-0.9V
Sensor power10%-90% input voltage percentum for torsion sensor.
If, when torsion sensor 24 operates for mal, perform step S60, by the microprocessor 18 of electric auxiliary steering system, directly close electric auxiliary steering system, do not provide and turn to auxiliary force.When if torsion sensor 24 is normal operation, perform step S62, because the supply power supply still may change to some extent with service condition, therefore need further to carry out self-adjustment entry condition determination strategy, in order to judge torsion sensor 24, whether meet a default self-adjustment entry condition; Please coordinate simultaneously Figure 10, for the flow chart of steps whether self-adjustment entry condition is set up is preset in judgement in step S62, in step S621, whether the speed of a motor vehicle that is judged vehicle by microprocessor 18 is non-vanishing, if not, perform step S64, use the last time self-adjustment value of torsion sensor 24, by electric auxiliary steering system, carried out the functional operation of torsion sensor 24; If, perform step S622, judge whether the left and right sides wheel speed of vehicle is identical.If the both sides wheel speed of vehicle is not identical, perform step S64; If the wheel speed of vehicle is identical, perform step S623, judge that the wheel steering angle of vehicle is whether fixing not change.If steering angle changes, perform step S64; If steering angle is fixing, do not change, perform step S624, whether the steering torque that judge torsion sensor 24 is fixed and is not changed.If steering torque changes, perform step S64; If steering torque is fixing, do not change, perform step S625, foundation is the steering torque magnitude of voltage of steering angle to produce instantly, and setting steering torque magnitude of voltage is as a new self-adjustment value of torsion sensor 24, and execution step S66, by the microprocessor 18 of electric auxiliary steering system, carried out the regular adjustment action of steering torque bias compensation.
In sum, the present invention can carry out the distortion signal of current sensor or torsion sensor self-regular adjustment action, with the robustness of lifting electric auxiliary steering system and the effect of turning efficiency; In addition, more can utilize signal bias compensation strategy, to solve sensor power source change or abnormal and cause the problem of sensing signal distortion, and then promote the accuracy of sensor sensing, to maintain original robustness that turns to ilities or strengthen electric auxiliary steering system.Further, can solve and existing must send vehicle back to depot, with regular adjustment spent plenty of time of action of carrying out the sensor signal and the problem of human cost.
Above explanation is just illustrative for the purpose of the present invention, and nonrestrictive, and those of ordinary skills understand; in the situation that do not break away from the spirit and scope that following claims limit, can make many modifications, change; or equivalence, but all will fall within the scope of protection of the present invention.
Claims (7)
1. the self-adjusting process of an electric auxiliary steering system, is characterized in that, comprises the following steps:
The supply power values of A detecting sensing module, and judge whether described supply power values meets a supply Power Supplies Condition, if not, stop an electric auxiliary steering system running, if perform step B;
Whether B judgement supply power values is a predetermined supply power values, if not, carries out the voltage bias compensation, if perform step C;
C judges the whether normal operation of described sensing module, if not, by described electric auxiliary steering system, carries out an additional function switching, if perform step D; And
D judges whether described sensing module meets a default self-adjustment entry condition, if not, use the last time self-adjustment value of described sensing module, by described electric auxiliary steering system, carried out the sensing function running of described sensing module, if, set the new self-adjustment value of described sensing module, carry out a regular adjustment action by described electric auxiliary steering system, wherein:
Described sensing module comprises at least one current sensor, described current sensor is to using a normal operation range as the foundation that judges whether normal operation, if, judge whether described current sensor meets described default self-adjustment entry condition, if not, by described electric auxiliary steering system, current sensor is switched to out to the additional function switching of loop operating mode from the loop circuit operating mode;
Judge that whether described default self-adjustment entry condition is set up, and more comprises the following steps:
D1 judges whether a DC side electric current of described current sensor is zero, if, perform step D2, if not, perform step D4;
Many current values of the described current sensor of D2 record;
D3 calculates the aviation value of described many current values, to obtain a current waveform biasing adjustment value, and set the described new self-adjustment value of current waveform biasing adjustment value as described current sensor, by described electric auxiliary steering system, carried out the regular adjustment action of current offset compensation;
D4 judges whether a bearing circle continues to rotate, and if not, uses the described last time self-adjustment value of described current sensor, by described electric auxiliary steering system, is carried out the functional operation of described current sensor, if perform step D5;
D5 judges whether the torque value of described bearing circle is fixed value, if not, uses the described last time self-adjustment value of described current sensor, by described electric auxiliary steering system, is carried out the functional operation of described current sensor, if perform step D6;
D6 judges whether described electric auxiliary steering system is electric current loop circuit operating mode, if not, use the last time self-adjustment value of described current sensor, by described electric auxiliary steering system, carried out the functional operation of described current sensor, if perform step D7;
D7 notes down electric current U, the V phase waveform cycle of described current sensor, and finds out respectively the limit of described electric current U, V phase waveform; And
D8 calculates the described limit of described electric current U, V phase waveform, to obtain a waveform ratio adjustment value, and described waveform ratio adjustment value is set as to the described new self-adjustment value of described current sensor, by described electric auxiliary steering system, described electric current U, V phase waveform are adjusted into to the regular adjustment action that ratio is identical.
2. the self-adjusting process of electric auxiliary steering system according to claim 1, it is characterized in that, described current sensor is to utilize a voltage-sensor to measure a supply power signal, then converts described supply power signal to described supply power values by a voltage conversion circuit.
3. the self-adjusting process of electric auxiliary steering system according to claim 1, is characterized in that, in described step B, described supply power values does not meet described predetermined supply power values, carries out the voltage bias compensation process:
B1 defines the described supply power values of described current sensor, and gets the half value of described supply power values;
The described half value of B2 conversion is an electric current neutral value; And
B3 is set as described electric auxiliary steering system by described electric current neutral value and carries out normalized current offset compensation.
4. the self-adjusting process of an electric auxiliary steering system, is characterized in that, comprises the following steps:
The supply power values of A detecting sensing module, and judge whether described supply power values meets a supply Power Supplies Condition, if not, stop an electric auxiliary steering system running, if perform step B;
Whether B judgement supply power values is a predetermined supply power values, if not, carries out the voltage bias compensation, if perform step C;
C judges the whether normal operation of described sensing module, if not, by described electric auxiliary steering system, carries out an additional function switching, if perform step D; And
D judges whether described sensing module meets a default self-adjustment entry condition, if not, use the last time self-adjustment value of described sensing module, by described electric auxiliary steering system, carried out the sensing function running of described sensing module, if, set the new self-adjustment value of described sensing module, carry out a regular adjustment action by described electric auxiliary steering system, wherein:
Described sensing module comprises at least one torsion sensor, described torsion sensor is to using a normal operation range as the foundation that judges whether normal operation, if, judge whether described torsion sensor meets described default self-adjustment entry condition, if not, by described electric auxiliary steering system, closed the additional function of described torsion sensor;
Judge that whether described torsion sensor meets described default self-adjustment entry condition, more comprises the following steps:
D1 judges whether the speed of a motor vehicle of a vehicle is non-vanishing, if, perform step d2, if not, use the described last time self-adjustment value of described torsion sensor, by described electric auxiliary steering system, carried out the functional operation of described torsion sensor;
D2 judges whether the left and right sides wheel speed of described vehicle is identical, if, perform step d3, if not, use the described last time self-adjustment value of described torsion sensor, by described electric auxiliary steering system, carried out the functional operation of described torsion sensor;
D3 judges that the wheel steering angle of described vehicle is whether fixing and does not change, if perform step d4, if not, use the described last time self-adjustment value of described torsion sensor, by described electric auxiliary steering system, carried out the functional operation of described torsion sensor;
D4 judges that the steering torque of described torsion sensor is whether fixing and does not change, if perform step d5, if not, use the described last time self-adjustment value of described torsion sensor, by described electric auxiliary steering system, carried out the functional operation of described torsion sensor; And
D5, according to when next steering torque magnitude of voltage, sets the new self-adjustment value of described steering torque magnitude of voltage as described torsion sensor, by described electric auxiliary steering system, is carried out the regular adjustment action of described steering torque bias compensation.
5. the self-adjusting process of electric auxiliary steering system according to claim 4, it is characterized in that, described torsion sensor is to utilize a voltage-sensor to measure a supply power signal, then converts described supply power signal to described supply power values by a voltage conversion circuit.
6. the self-adjusting process of electric auxiliary steering system according to claim 4, is characterized in that, in described step B, described supply power values does not meet described predetermined supply power values, more comprises the following steps:
B1 defines the supply power values instantly of described torsion sensor, and gets the described half value of instantly supplying power values;
Zero torsion magnitude of voltage under b2 foundation one initial provision power values and described half value and initial provision power supply is to calculate a voltage bias value; And
B3 is set as described electric auxiliary steering system by described voltage bias value and carries out normalized voltage bias compensation.
7. the self-adjusting process of electric auxiliary steering system according to claim 6, is characterized in that, described step b2 utilizes a voltage bias compensation algorithm to calculate described voltage bias value, and described voltage bias compensation equation is as follows:
Wherein, V
New_sensor_powerRepresent described torsion sensor supply power values instantly, V
Initial_zero-torqueRepresent the corresponding magnitude of voltage of zero torsion under the initial provision power supply of described torsion sensor, V
Initial_sensor_powerRepresent the initial provision power values of described torsion sensor.
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