CN103863385A - Rack end protection method of electric power steering system - Google Patents
Rack end protection method of electric power steering system Download PDFInfo
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- CN103863385A CN103863385A CN201210548329.2A CN201210548329A CN103863385A CN 103863385 A CN103863385 A CN 103863385A CN 201210548329 A CN201210548329 A CN 201210548329A CN 103863385 A CN103863385 A CN 103863385A
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Abstract
The application discloses a rack end protection method of an electric power steering system. When a rack of a steering gear moves towards the end of the rack and enters a rack end protection area, an ECU (electronic control unit) of the electric power steering system takes a rotating angle of a steering wheel, the speed of the rotating angle and rotating torque as input to calculate a rack end protection gain value which serves as a multiplier during assisting torque calculation. The rack end protection gain value is the product of a basic gain coefficient, a rotating speed gain coefficient and a rotating torque gain coefficient. The basic gain coefficient decreases progressively as the absolute value of the rotating angle of the steering wheel increases. The rotating speed gain coefficient decreases progressively as the absolute value of the rotating angle of the steering wheel increases. The rotating torque gain coefficient increases progressively as the absolute value of the rotating angle of the steering wheel increases. According to the rack end protection method of the electric power steering system, during working conditions of rack ends, current output can be limited, temperature rise can be reduced and mechanical impact of the rack ends can be avoided.
Description
Technical field
The application relates to a kind of electric boosting steering system (Electric Power Steering is called for short EPS system) of automobile.
Background technology
Refer to Fig. 1, this is the mechanical steering system on automobile.It comprises steering handwheel 11, steering column 12, deflector 13, steering track rod 14 and wheel flutter 15.In the time that chaufeur applies steering effort and acts on steering handwheel 11, drive the built-in steering shaft mechanism of steering column 12 to rotate, the steering shaft mechanism gear mechanism built-in with deflector 13 is connected, the gear mechanism rack mechanism built-in with deflector 13 engages, thereby drive rack structure to do translation in deflector 13, because rack mechanism is connected firmly with steering track rod 14, thereby apply pulling force or thrust on wheel flutter 15 by steering track rod 14, complete motor turning action.
Refer to Fig. 2, this is the electric boosting steering system on automobile.It has increased on the basis of mechanical steering system:
---torque angle sensor 21, is used for detecting rotating torque (also claiming torque, moment of torsion) and the rotational angle (corner) of steering handwheel 11;
---car speed sensor 22, is used for measurement of vehicle speed;
---ECU(electronic control unit) 23, according to the moment of torsion of steering handwheel 11, corner and vehicle speed signal, calculate corresponding assist torque, and export to assist motor 24;
---assist motor 24, be arranged in steering column 12 or deflector 13, its instruction according to ECU 23 is rotated, thus output assist torque;
---speed reduction gearing 25, the rotational angle of assist motor 24 is converted to the rotational angle of steering column 12 or deflector 13 with certain proportion, playing slows down increases the effect of turning round.If the reduction ratio of speed reduction gearing 25 is k, k > 1, rotational angle/k=steering column 12 of assist motor 24 or the rotational angle of deflector 13.
Described torque angle sensor 21 also can be divided into separate torque sensor and rotary angle transmitter.
Refer to Fig. 3, the ECU 23 of existing electric boosting steering system comprises:
---Torque Control module 231, it calculates corresponding assist torque according to the moment of torsion of steering handwheel 11, corner, rotating speed and vehicle speed signal, and exports to motor control module 232;
---motor control module 232, according to the assist torque receiving, outgoing current is to drive assist motor 24 to rotate.
Described Torque Control module 231 is further divided into target moment computing module 61 and power-assisted correcting module 62 two parts.
Described target moment computing module 61 is mainly used in calculating basic assist torque, and it comprises assist characteristic curve, initiatively returns the submodules such as positive control, active damping control, inertia compensation control, friciton compensation control.Described assist characteristic curve module can arrange different power-assisted curves in the time of the different speed of a motor vehicle, thereby obtains the different feels that turns to, and it exports original assist torque.Describedly initiatively return positive control module and active damping control module can arrange different active aligning torques or active damping moment in the time of the different speed of a motor vehicle and different steering handwheel rotating speed, the driving stability performance when active return performance (making steering handwheel 11 can automatically get back to straight-line travelling position) while ensureing the low speed of a motor vehicle in vehicle and the middle high speed of a motor vehicle.Described inertia compensation control module and friciton compensation control module are done certain inertia and friciton compensation to system performance, to obtain better steering feel, and its output inertia compensating moment, friciton compensation moment.It is exactly basic assist torque that the output of each module is added.
Comprise the submodules such as temperature protection gain, overvoltage protection gain, low-voltage variation gain, curb protection gain at power-assisted correcting module 62.Described power-assisted correcting module 62 is mainly used in carrying out protection strategy; by judging such as system running state or the vehicle working condition such as operating temperature, operating voltage, curb be stuck; make respectively protection strategy targetedly, not damaged to ensure Electrical Parts and the mechanical parts of electric boosting steering system.These power-assisted correcting module 62 output protection gain factors.
The protection gain factor that the basic assist torque that described target moment computing module 61 calculates and power-assisted correcting module 62 calculate is exported to motor control module 232 as target torque command after doing and multiplying each other.
In mechanical steering system, normally pinion and-rack of deflector 13.Tooth bar end is actually the end position of the rack stroke of deflector 13.Due to the rack stroke of deflector 13 and the rotational angle of steering handwheel 11 corresponding one by one, thereby tooth bar end namely steering handwheel 11 forward a kind of operating mode of end position to.The left side tooth bar terminal position of deflector 13 just for example, allows rotational angle corresponding to the maximum of the negative direction (conter clockwise) of steering handwheel 11, and the right side tooth bar terminal position of deflector 13 is just for example, corresponding to the maximum permission rotational angle of the positive dirction (cw) of steering handwheel 11.
Tooth bar end operating mode can be brought following problem:
One, long-term holding steering handwheel 11 is to end position, and electric boosting steering system also can correspondingly be exported maximum assist torque, and now assist motor 24 maintains very high electric current, can cause temperature rise, may damage electronics package.
Its two, in the time that steering handwheel 11 approaches end position, chaufeur also may firmly clash into end position.This may cause physical construction to damage, and consequent noise also can bring uncomfortable sensation to driver and crew.
Existing tooth bar end protection strategy has only been considered the first operating mode,, in the time holding steering handwheel 11 for a long time, assist torque is done to certain limitation, to reduce current of electric and temperature rise; For the second operating mode, general employing at tooth bar end increases nylon or plastics back-up ring, with buffering collision of closed and noise decrease; This method can increase cost on the one hand, and along with the wearing and tearing of nylon or plastics back-up ring, protection effect also can reduce on the other hand.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of tooth bar end guard method of electric boosting steering system.The method, in the time of tooth bar end operating mode, can be exported by Limited Current on the one hand, reduces temperature rise; On the other hand, steering handwheel can be passed to chaufeur and increases steering-load to the information of end position, a buffer area is provided, avoid the mechanical impact of tooth bar end.
For solving the problems of the technologies described above, the tooth bar end guard method of the application's electric boosting steering system is: in the time that the tooth bar of deflector moves and enter tooth bar end protection zone towards the direction of tooth bar end, the ECU of electric boosting steering system, using rotational angle, rotational angular velocity and the rotating torque of steering handwheel as input, calculates tooth bar end protection yield value; Multiplier when this tooth bar end protection yield value calculates as assist torque;
Described tooth bar end protection yield value is that basic gain factor, rotating speed gain factor and gain of torque coefficient are long-pending;
Described basic gain factor is along with the absolute value of the rotational angle of steering handwheel increases and successively decreases;
Described rotating speed gain factor is along with the absolute value of the rotational angular velocity of steering handwheel increases and successively decreases;
Described gain of torque coefficient is along with the absolute value of the rotating torque of steering handwheel increases and increases progressively.
The application is by the rotational angular velocity of monitoring or the rotational angle of one of rotating torque and steering handwheel, and tooth bar end protection zone is set, and is used as starting tooth bar end and protects tactful Rule of judgment.Once this condition is reached, will calculate in real time tooth bar end protection yield value, this yield value≤1, then does product with assist torque, plays the object of the moment output that reduces assist motor, has finally realized the defencive function under tooth bar end operating mode.
Brief description of the drawings
Fig. 1 is the structural representation of the mechanical steering system on automobile;
Fig. 2 is the structural representation of the electric boosting steering system on automobile;
Fig. 3 is the structural representation of the Torque Control module of existing electric boosting steering system;
Fig. 4 is the structural representation of the Torque Control module of the application's electric boosting steering system;
Fig. 5 is the diagram of circuit of the tooth bar end guard method of the application's electric boosting steering system;
Fig. 6 is the relation curve (rotational angular velocity of supposition steering handwheel and rotating torque keep constant) between basic gain factor K1 and the rotational angle of steering handwheel;
Fig. 7 is the relation curve between rotating speed gain factor K2 and the rotational angular velocity of steering handwheel;
Fig. 8 is the relation curve between gain of torque COEFFICIENT K 3 and the rotating torque of steering handwheel;
Fig. 9 is the relation curve between rack die block protection yield value K and the rack stroke of deflector.
Description of reference numerals in figure:
11 is steering handwheel; 12 is steering column; 13 is deflector; 14 is steering track rod; 15 is wheel flutter; 21 is torque angle sensor; 22 is car speed sensor; 23 is ECU; 231 is Torque Control module; 232 is motor control module; 24 is assist motor; 25 is speed reduction gearing; 61 is target moment computing module; 62 is power-assisted correcting module.
Detailed description of the invention
Refer to Fig. 4, this is the Torque Control module of the application's electric boosting steering system.Compared with the existing Torque Control module shown in Fig. 3, the application has increased tooth bar end protection gain module in power-assisted correcting module 62.
Refer to Fig. 5; the tooth bar end guard method of the application's electric boosting steering system is: in the time that the tooth bar of deflector 13 moves and enter tooth bar end protection zone towards the direction of tooth bar end; described tooth bar end protection gain module, using rotational angle, rotational angular velocity and the rotating torque of steering handwheel 11 as input, is exported tooth bar end protection yield value as calculated afterwards.The basic assist torque that this tooth bar end protection yield value and target moment computing module 61 calculate does after product processing, exports to motor control module 232 as final target torque command.
Fig. 4 shows, also comprises the submodules such as temperature protection gain, overvoltage protection gain, low-voltage variation gain, curb protection gain in power-assisted correcting module 62.The protection gain factor of these submodule outputs and described tooth bar end protection yield value are got minimum value as final protection gain factor.After the basic assist torque that the protection gain factor that this is final and target moment computing module 61 calculate multiplies each other, export to motor control module 232 as target torque command.
Whether the tooth bar that judges deflector 13 moves towards the direction of tooth bar end, has two kinds of judgment modes.
The first judgment mode is the direction whether consistent (being positive and negative whether consistent) that detects the rotational angle (positive and negative) of steering handwheel 11 and the rotational angular velocity (positive and negative) of steering handwheel 11.If consistent, the tooth bar that is judged to be deflector 13 moves towards the direction of tooth bar end.If inconsistent, the tooth bar that is judged to be deflector 13 moves back to the direction of tooth bar end.The shortcoming of this judgment mode is: the detection of the rotational angular velocity zero crossing of steering handwheel 11 is difficult for realizing, thereby the rotational angular velocity of steering handwheel 11 is just or the negative error that exists.
The second judgment mode is the direction whether consistent (being positive and negative whether consistent) that detects the rotational angle (positive and negative) of steering handwheel 11 and the rotating torque (positive and negative) of steering handwheel 11.If consistent, the tooth bar that is judged to be deflector 13 moves towards the direction of tooth bar end.If inconsistent, the tooth bar that is judged to be deflector 13 moves back to the direction of tooth bar end.The rotational angle of steering handwheel 11 and rotating torque are all measured by torque angle sensor 21, and its output accuracy is very high, and can detect very clearly whether zero crossing of rotating torque, and therefore judgement is more accurate.
Arranging generally of tooth bar end protection zone demarcated acquisition by real vehicle, demarcates principle to be: need to play on the one hand the effect of protection, should not affect on the other hand the feel of manipulation, can not allow chaufeur feel moment irregularity.Conventionally this tooth bar end protection zone is rack stroke 0%-10% and 90%-100%.Be that the initial point of described tooth bar end protection zone and the spacing of rack stroke center-point are 90% of tooth bar terminal position and rack stroke center-point spacing.
The tooth bar end protection yield value K=K1 × K2 × K3 of described tooth bar end protection gain module output.
Described K1 is basic gain factor, only relevant with the rotational angle of steering handwheel 11.The rotational angle of steering handwheel 11 is 0, and when steering handwheel 11 mediates, K1 is maxim.Along with the absolute value of the rotational angle of steering handwheel 11 increases, K1 successively decrease (not strictly decreasing)
Preferably, the setting of basic gain factor K1 as shown in Figure 6.The rack mechanism that makes deflector 13 when the rotational angle of steering handwheel 11 is in the starting point of the tooth bar end protection zone in left side between the starting point of the tooth bar end protection zone on right side time, and it is constant that K1 remains maxim.When the rotational angle of steering handwheel 11 makes the rack mechanism of deflector 13 in the time that the starting point of the tooth bar end protection zone of a certain side arrives the tooth bar end of this side, K1 is along with the absolute value of the rotational angle of steering handwheel 11 increases and strictly decreasing.More preferably, enter behind tooth bar end protection zone when the rotational angle of steering handwheel 11 makes the rack mechanism of deflector 13, it is a with the absolute value of the difference of the starting point of the tooth bar end protection zone entering that the current rotational angle of establishing steering handwheel 11 makes the position of the rack mechanism of deflector 13; Conventionally the width of the tooth bar end protection zone of both sides is made as equally, is designated as b.K1=1-(a so
2+ a)/(b
2+ b).A, b all can be converted to the rotational angle of steering handwheel 11.
Described K2 is rotating speed gain factor, only relevant with the rotational angular velocity of steering handwheel 11, and along with the absolute value of the rotational angular velocity of steering handwheel 11 increases progressively and successively decrease (not strictly decreasing).When steering handwheel 11 is in different rotational angular velocity time, be different to the shock effect of tooth bar end.Obviously, the absolute value of the rotational angular velocity of steering handwheel 11 is higher, and stronger to the shock of tooth bar end, noise is more obvious, and the risk of the physical damage of bringing is also larger.
Preferably, rotating speed gain factor K2 is set as shown in Figure 7.When the absolute value < first threshold of the rotational angular velocity of steering handwheel 11, K2 is maxim 1.When the absolute value > Second Threshold of the rotational angular velocity of steering handwheel 11, K2 is minimum value.When the absolute value of the rotational angular velocity of steering handwheel 11 is between first threshold and Second Threshold, K2 is along with the absolute value of the rotational angular velocity of steering handwheel 11 increases and linear decrease.The minimum value of described first threshold, Second Threshold and rotating speed gain factor K2 can be demarcated according to different automobile types, different electric boosting steering system.
Described K3 is gain of torque coefficient, only relevant with the rotating torque of steering handwheel 11, and along with the absolute value of the rotating torque of steering handwheel 11 increases and increases progressively (not strictly increasing).After the Torque Control module of electric boosting steering system has increased the protection strategy of tooth bar end; in the time that the rack stroke of deflector 13 enters tooth bar end protection zone; due to the sharply decline of assist torque; can cause the operating torque on hand of chaufeur sharply to rise, thereby bring uncomfortable feel.Gain of torque COEFFICIENT K 3 is exactly in order to promote in this case the comfortable feel degree of chaufeur.
Preferably, the setting of gain of torque COEFFICIENT K 3 as shown in Figure 8.When absolute value < the 3rd threshold value of the rotating torque of steering handwheel 11, K3 is minimum value.When absolute value > the 4th threshold value of the rotating torque of steering handwheel 11, K3 is maxim 1.When the absolute value of the rotating torque of steering handwheel 11 is between the 3rd threshold value and the 4th threshold value, K3 is along with the rotating torque of steering handwheel 11 increases and linear increment.The minimum value of described the 3rd threshold value, the 4th threshold value and gain of torque COEFFICIENT K 3 can be demarcated according to different automobile types, different electric boosting steering system.
According to K=K1 × K2 × K3, the typical curve of final definite tooth bar end protection gain as shown in Figure 9.When the rack mechanism of deflector 13 in the starting point of the tooth bar end protection zone in left side between the starting point of the tooth bar end protection zone on right side time, it is constant that K remains maxim 1.When the rack mechanism of deflector 13 is in the starting point of the tooth bar end protection zone of a certain side during to the tooth bar end of this side, K is along with the rack mechanism of deflector 13 is the closer to tooth bar end and strictly decreasing.
In the time that mechanical steering system is dispatched from the factory, the tooth bar terminal position of the left and right sides equates.And preserve in special memory cell.Along with various reasons such as changing the outfit after sale of the use of vehicle, mechanical wear, mechanical steering system; can cause the tooth bar terminal position of the left and right sides that unpredictable variation occurs; this can bring impact to tooth bar end protection strategy, finally weakens protective value and handles feel.
The application uses the tooth bar terminal position of preserving in described special memory cell.Preferably, in the whole use procedure of vehicle, when the rack stroke of either side is greater than the tooth bar terminal position of this preserved side, all in described special memory cell, upgrade the tooth bar terminal position of this side.
These are only the application's preferred embodiment, and be not used in restriction the application.For a person skilled in the art, the application can have various modifications and variations.All within the application's spirit and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in the application's protection domain.
Claims (10)
1. the tooth bar end guard method of an electric boosting steering system, it is characterized in that, in the time that the tooth bar of deflector moves and enters tooth bar end protection zone towards the direction of tooth bar end, the ECU of electric boosting steering system, using rotational angle, rotational angular velocity and the rotating torque of steering handwheel as input, calculates tooth bar end protection yield value; Multiplier when this tooth bar end protection yield value calculates as assist torque;
Described tooth bar end protection yield value is that basic gain factor, rotating speed gain factor and gain of torque coefficient are long-pending;
Described basic gain factor is along with the absolute value of the rotational angle of steering handwheel increases and successively decreases;
Described rotating speed gain factor is along with the absolute value of the rotational angular velocity of steering handwheel increases and successively decreases;
Described gain of torque coefficient is along with the absolute value of the rotating torque of steering handwheel increases and increases progressively.
2. the tooth bar end guard method of electric boosting steering system according to claim 1, is characterized in that, whether the direction that detects the rotational angle of steering handwheel and the rotational angular velocity of steering handwheel is consistent;
If consistent, the tooth bar that is judged to be deflector moves towards the direction of tooth bar end;
If inconsistent, the direction that the tooth bar that is judged to be deflector deviates from tooth bar end moves.
3. the tooth bar end guard method of electric boosting steering system according to claim 1, is characterized in that, whether the direction that detects the rotational angle of steering handwheel and the rotating torque of steering handwheel is consistent;
If consistent, the tooth bar that is judged to be deflector moves towards the direction of tooth bar end;
If inconsistent, the direction that the tooth bar that is judged to be deflector deviates from tooth bar end moves.
4. the tooth bar end guard method of electric boosting steering system according to claim 1, it is characterized in that, when the rotational angle of steering handwheel in the starting point of the tooth bar end protection zone in left side between the starting point of the tooth bar end protection zone on right side time, described basic gain factor remains maxim;
When the rotational angle of steering handwheel is in the starting point of the tooth bar end protection zone of a certain side during to the tooth bar end of this side, described basic gain factor is along with the absolute value of the rotational angle of steering handwheel increases and strictly decreasing.
5. the tooth bar end guard method of electric boosting steering system according to claim 1, is characterized in that,
When the absolute value < first threshold of the rotational angular velocity of steering handwheel, described rotating speed gain factor remains maxim 1;
When the absolute value > Second Threshold of the rotational angular velocity of steering handwheel, described rotating speed gain factor remains minimum value;
When the absolute value of the rotational angular velocity of steering handwheel is between first threshold and Second Threshold, described rotating speed gain factor is along with the absolute value of the rotational angular velocity of steering handwheel increases and linear decrease.
6. the tooth bar end guard method of electric boosting steering system according to claim 1, is characterized in that,
When absolute value < the 3rd threshold value of the rotating torque of steering handwheel, described gain of torque coefficient remains minimum value;
When absolute value > the 4th threshold value of the rotating torque of steering handwheel, described gain of torque coefficient remains maxim 1;
When the absolute value of the rotating torque of steering handwheel is between the 3rd threshold value and the 4th threshold value, described gain of torque coefficient is along with the absolute value of the rotating torque of steering handwheel increases and linear increment.
7. the tooth bar end guard method of electric boosting steering system according to claim 1; it is characterized in that; in the whole use procedure of vehicle, when the rack stroke of either side is greater than the tooth bar terminal position of this preserved side, all upgrade the tooth bar terminal position of this side.
8. the tooth bar end guard method of electric boosting steering system according to claim 1, is characterized in that, the initial point of described tooth bar end protection zone and the spacing of rack stroke center-point are 90% of tooth bar terminal position and rack stroke center-point spacing.
9. the tooth bar end guard method of electric boosting steering system according to claim 1, it is characterized in that, when the rack mechanism of deflector in the starting point of the tooth bar end protection zone in left side between the starting point of the tooth bar end protection zone on right side time, it is constant that described tooth bar end protection yield value remains maxim 1;
When the rack mechanism of deflector is in the starting point of the tooth bar end protection zone of a certain side during to the tooth bar end of this side, described tooth bar end protection yield value is along with the rack mechanism of deflector is the closer to tooth bar end and strictly decreasing.
10. the tooth bar end guard method of electric boosting steering system according to claim 1; it is characterized in that; described tooth bar end protection yield value is obtained by the tooth bar end protection gain submodule in power-assisted correcting module; in the time that all the other submodules in power-assisted correcting module also obtain protection yield value separately; after getting the minimum value of these protections in yield values and basic assist torque and multiplying each other, export to motor control module.
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| CN201210548329.2A CN103863385A (en) | 2012-12-17 | 2012-12-17 | Rack end protection method of electric power steering system |
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Application publication date: 20140618 |