CN103303366B - Decision control method and system for power assisting motor in electric power steering system - Google Patents

Abstract

The invention relates to a decision control method for a power assisting motor in an electric power steering system. The decision control method particularly comprises the following steps: 1, calculating an ideal value theta* as of a turn angle of the power assisting motor by a power assisting motor turn angle reference module; 2, calculating a power assisting motor turn angle deviation value e by a deviation value calculation module; 3, judging whether e is 0 or not, if so, ending, and otherwise, carrying out the step 4; 4, adjusting the control quantity U according to the turn angle deviation value e and controlling the power assisting motor to rotate according to the control quantity U by a turn angle tracking controller; and 5, controlling the turn angle of the power assisting motor according to the control quantity U decided by the turn angle tracking controller by the power assisting motor, sending an actual turn angle value theta as to the deviation value calculation module, and going to the step 2. According to the decision control method, the bad influence of the system noise and the mechanical vibration which cannot be removed, on the steering feel caused by a reason that the electromechanical parameters of the electric power steering system cannot be randomly selected can be effectively made up for so as to obtain the best steering feel.

Description

The control decision method and system of assist motor in electric boosting steering system

Technical field

The present invention relates to the control decision method and system of assist motor in electric boosting steering system.

Background technology

At present, in order to improve the moment burden of chaufeur, obtaining good steering feel, have employed electric boosting steering system as auxiliary work-saving device.Domestic and international research finds, choosing the impact of steering feel of electric power steering electromechanical parameters is larger.For obtaining good steering feel, based on optimum theory the electromechanical parameters such as the torque sensor rigidity of electric boosting steering system, assist motor rotor inertia and the transmission device reduction ratio that is connected with assist motor are optimized and choose, effectively improve the steering feel of steering swivel system.

But due to the restriction by process tool given size standardization and seriation, this just causes electric power steering electromechanical parameters cannot select optimum value veritably, and the transmitting ratio as power-assisted transmission apparatus needs preferentially to select nominal valve.Therefore, by the restriction of the factors such as Machining Technology, the selection based on the electric boosting steering system electromechanical parameters of optimum theory can only improve the steering feel of steering swivel system, and can not obtain best steering feel.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind ofly can eliminate system noise and mechanical vibration to the harmful effect of steering feel, and obtains the control decision method of assist motor in the electric boosting steering system of best steering feel.

The technical scheme that the present invention solves the problems of the technologies described above is as follows: the control decision method of assist motor in electric boosting steering system, specifically comprises the following steps:

Step 1: assist motor corner outlier module receives assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module;

Step 2: deviate computing module is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor _ascalculate assist motor corner deviate e;

Step 3: judge whether e is 0, if e is 0, terminates; Otherwise, carry out step 4;

Step 4: corner tracking control unit adjusts controlling quantity U according to assist motor corner deviate e, and control assist motor rotation according to described controlling quantity U;

Step 5: assist motor controls the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and by corner actual value θ _asbe sent to deviate computing module, jump to step 2.

The invention has the beneficial effects as follows: the present invention, according to the dynamics module of electric boosting steering system and the basic theoretical knowledge of inverse dynamics, provides the decision-making module for the decision-making of electric boosting steering system Power assisted control; The electromechanical parameters that this control decision method can make up effectively due to electric boosting steering system can not choose at random, and causes the system noise and mechanical vibration that cannot eliminate to the harmful effect of steering feel, and then obtains best steering feel.

On the basis of technique scheme, the present invention can also do following improvement.

Further, the corner actual value θ of described assist motor _asinitial value be 0.

Further, the calculating of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

Further, in described step 2, assist motor corner deviate e equals the ideal value of assist motor corner deduct corner actual value θ _as.

Further, the corner actual value θ of described assist motor _assensor or observer is adopted to carry out gathering and feed back to deviate computing module.

Further, described corner tracking control unit also controls assist motor and exports assist torque T _mas.

Another object of the present invention is, for the deficiencies in the prior art, provides a kind of and can eliminate system noise and mechanical vibration to the harmful effect of steering feel, and obtain the control decision system of assist motor in the electric boosting steering system of best steering feel.

The technical scheme that the present invention solves the problems of the technologies described above is as follows: the control decision system of assist motor in electric boosting steering system, is characterized in that, comprises assist motor corner outlier module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner outlier module is used for from external reception assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module;

Described deviate computing module is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor _ascalculate assist motor corner deviate e, and described corner deviate e is sent to corner tracking control unit;

Described corner tracking control unit adjusts controlling quantity U according to the corner deviate e of assist motor, and controls assist motor rotation according to described controlling quantity U;

Described assist motor controls the corner of assist motor according to controlling quantity U, and by the corner actual value θ of assist motor _asbe sent to deviate computing module.

The invention has the beneficial effects as follows: the present invention, according to the dynamics module of electric boosting steering system and the basic theoretical knowledge of inverse dynamics, provides the decision-making module for the decision-making of electric boosting steering system Power assisted control.And the electromechanical parameters that this control decision system can make up effectively due to electric boosting steering system can not choose at random, and causes the system noise and mechanical vibration that cannot eliminate to the harmful effect of steering feel, thus obtains best steering feel.

On the basis of technique scheme, the present invention can also do following improvement.

Further, assist motor corner outlier module calculates according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

Further, the deviate e of described assist motor corner equals the ideal value of assist motor corner deduct corner actual value θ _as.

Further, the corner actual value θ of described assist motor _assensor or observer is adopted to carry out gathering and feed back to deviate computing module.

Accompanying drawing explanation

Fig. 1 is the control decision method flow diagram of assist motor in the electric boosting steering system described in the specific embodiment of the invention 1;

Fig. 2 is assist motor control decision system chart in the electric boosting steering system described in the specific embodiment of the invention 1.

In accompanying drawing, the list of parts representated by each label is as follows:

1, assist motor corner outlier module, 2, deviate computing module, 3, corner tracking control unit, 4, assist motor.

Detailed description of the invention

Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.

As shown in Figure 1, the control decision method flow diagram of assist motor in the electric boosting steering system described in the specific embodiment of the invention 1, specifically comprises the following steps:

Step 1: assist motor corner outlier module receives assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module;

Step 2: deviate computing module is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor _ascalculate assist motor corner deviate e;

Step 3: whether deviate computing module judgment bias value e is 0, if e is 0, terminates; Otherwise, carry out step 4;

Step 4: corner tracking control unit adjusts controlling quantity U according to corner deviate e, and control assist motor rotation according to described controlling quantity U;

Step 5: assist motor controls the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and by corner actual value θ _asbe sent to deviate computing module, jump to step 2.

The corner actual value θ of described assist motor 4 _asinitial value be 0.

The technology of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

In described step 2, assist motor corner deviate e equals the ideal value of assist motor corner deduct corner actual value θ _as.

The corner actual value θ of described assist motor 4 _assensor or observer is adopted to carry out gathering and feed back to deviate computing module.

Described corner tracking control unit 3 also controls assist motor and exports assist torque T _mas.

As shown in Figure 2, be assist motor control decision system chart in the electric boosting steering system described in the specific embodiment of the invention 1, comprise assist motor corner outlier module 1, deviate computing module 2, corner tracking control unit 3 and assist motor 4;

Described assist motor corner outlier module 1 is for from external reception assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module 2;

Described deviate computing module 2 is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor 4 _ascalculate assist motor corner deviate e, and described corner deviate e is sent to corner tracking control unit 3;

Described corner tracking control unit 3 adjusts controlling quantity U according to corner deviate e, and rotates according to described controlling quantity U control assist motor 4;

Described assist motor 4 controls corner according to controlling quantity U, and by corner actual value θ _asbe sent to deviate computing module 2.

Assist motor corner outlier module 1 calculates according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

Described assist motor corner deviate e equals the ideal value of assist motor corner deduct corner actual value θ _as.

The corner actual value θ of described assist motor 4 _assensor or observer is adopted to carry out gathering and feed back to deviate computing module 2.

The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. the control decision method of assist motor in electric boosting steering system, is characterized in that, specifically comprise the following steps:

Step 1: assist motor corner outlier module is from external reception assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module;

Step 2: deviate computing module is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor _ascalculate assist motor corner deviate e;

Step 3: whether deviate computing module judgment bias value e is 0, if e is 0, terminates; Otherwise, carry out step 4;

Step 4: corner tracking control unit adjusts controlling quantity U according to corner deviate e, and control assist motor rotation according to described controlling quantity U;

Step 5: assist motor controls the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and by corner actual value θ _asbe sent to deviate computing module, jump to step 2.

2. control decision method according to claim 1, is characterized in that, the corner actual value θ of described assist motor _asinitial value be 0.

3. control decision method according to claim 2, is characterized in that, the calculating of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

4. control decision method according to claim 3, is characterized in that, in described step 2, assist motor corner deviate e equals the ideal value of assist motor corner deduct corner actual value θ _as.

5. control decision method according to claim 4, is characterized in that, the corner actual value θ of described assist motor _assensor or observer is adopted to carry out gathering and feed back to deviate computing module.

6. the control decision method according to any one of claim 1 to 5, is characterized in that, described corner tracking control unit also controls assist motor and exports assist torque T _mas.

7. the control decision system of assist motor in electric boosting steering system, is characterized in that, comprise assist motor corner outlier module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner outlier module is used for from external reception assist motor corner accekeration steering wheel angle accekeration assist motor tarnsition velocity value steering wheel angle velocity amplitude desirable assist torque value with the ideal value of steering resisting torque calculate the ideal value of assist motor corner and by the ideal value of described assist motor corner be sent to deviate computing module;

Described deviate computing module is according to the ideal value of assist motor corner the corner actual value θ returned with assist motor _ascalculate assist motor corner deviate e, and described corner deviate e is sent to corner tracking control unit;

Described corner tracking control unit adjusts controlling quantity U according to corner deviate e, and controls assist motor rotation according to described controlling quantity U;

Described assist motor controls corner according to controlling quantity U, and by corner actual value θ _asbe sent to deviate computing module.

8. control decision system according to claim 7, is characterized in that, assist motor corner outlier module calculates according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor assist motor corner exports; J _cand B _cbe respectively rotor inertia and the damping coefficient of Steering gear; M _rand B _rrepresent rack mass and tooth bar damping coefficient respectively; R _pfor turning to miniature gears radius; with be respectively the ideal value of the ideal value of assist motor rotor inertia, the ideal value of assist motor damping coefficient, the ideal value of transmission device reduction ratio be connected with assist motor, desirable assist torque and steering resisting torque.

9. control decision system according to claim 8, is characterized in that, described assist motor corner deviate e equals the ideal value of assist motor corner deduct corner actual value θ _as.

10. the control decision system according to any one of claim 7-9, is characterized in that, the corner actual value θ of described assist motor _assensor or observer is adopted to carry out gathering and feed back to deviate computing module.