CN104608816B - A kind of electric boosting steering system returns the determination methods just compensating finish time - Google Patents
A kind of electric boosting steering system returns the determination methods just compensating finish time Download PDFInfo
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- CN104608816B CN104608816B CN201410731326.1A CN201410731326A CN104608816B CN 104608816 B CN104608816 B CN 104608816B CN 201410731326 A CN201410731326 A CN 201410731326A CN 104608816 B CN104608816 B CN 104608816B
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- equivalent resistance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
Abstract
The invention discloses the determination methods returning positive compensation process finish time in a kind of electric boosting steering system, the method uses motor equivalent resistance and is just compensating the time as basis for estimation with returning, use logic or relation judge returning the finish time just compensated；Described electric boosting steering system includes brushless motor and the controller being connected with brushed DC motor；Described controller includes torque sensor interface module, speed/engine speed input module, decision-making module, motor drive module and measurement module；Described decision-making module is connected with torque sensor interface module and speed/engine speed input module, in order to measure back the time that just compensates, determine assist motor output electric current and calculate other parameter of power-assisted process；Described measurement module is all connected with motor with motor drive module, and wherein measurement module is in order to measure electric current and the voltage of motor.
Description
Technical field
The invention belongs to electric boosting steering system motion control method field, relate to a kind of returning positive compensation process finish time determination methods with what motor equivalent resistance and returning just was compensating that two parameters of time simultaneously participate in.
Background technology
The returnability of vehicle is the important indicator examining or check its steering performance.Owing in electric boosting steering system, drive mechanism exists certain friction and damping, its return performance of vehicle being provided with electric boosting steering system can be caused to have deteriorated compared with return performance when using mechanical steering system.In order to make the vehicle being provided with electric boosting steering system have a more preferable return performance, friction and damping to electric power steering is needed during just returning to compensate.Fig. 3 is that same vehicle uses the returnability of three kinds of different steering to compare.Wherein " mechanical steering " refers to that vehicle does not assemble any servo steering device, " EPS turns to " refers to the mechanical steering system on vehicle has been replaced with electric boosting steering system, but this electric boosting steering system is not turned on back just compensating function, " take back and just compensate " and refer to be replaced with the mechanical steering on vehicle electric power steering, and open back and just compensate function.Experimental result from figure, when being not turned on back just compensating, the return performance of vehicle is had a great impact by electric boosting steering system.After opening back and just compensating, the return performance of vehicle can be better than mechanical steering.
Return and just compensate the compensation method using constant-torque, good compensation effect will be obtained, need the starting and ending moment of compensation process is judged.
The before conventional method judging finish time is to use the compensation time is carried out timing, terminates when the compensation time reaches certain value to compensate.This method as judgment condition only with compensation this parameter of time, often there will be compensation overlong time, causes back the most excessive.
Summary of the invention
It is an object of the invention to compensation finish time in compensation process is judged.When the arbitrary parameter in two parameters meets condition, the equivalent resistance of the method employing motor and two parameters of compensation time, as returning the basis for estimation just compensating end, think back that positive compensation process terminates.
The technical solution used in the present invention:
The application provides a kind of determination methods returning positive compensation process finish time in the electric boosting steering system of non-angular sensor, and described electric boosting steering system includes brushless motor and the controller being connected with brushed DC motor；Described controller includes torque sensor interface module, speed/engine speed input module, decision-making module, motor drive module and measurement module；Described decision-making module is connected with torque sensor interface module and speed/engine speed input module, in order to measure back the time that just compensates, determine current of electric and calculate other parameter of power-assisted process；Described measurement module is all connected with motor with motor drive module, and wherein measurement module is in order to measure electric current and the voltage of motor；
In returning positive compensation process, controller is measured the voltage U of motor by measurement module at a certain time interval and flows through the electric current I of motor, and utilizes formula (1) calculating motor equivalent resistance:
(1)
This equivalent resistance is not the actual resistance of armature, the pressure drop that wherein further comprises brush in addition to the actual resistance of armature and the back-emf produced due to electric machine rotation, these two magnitudes of voltage have all been converted into resistance by the mode divided by electric current, are therefore called equivalent resistance.Fig. 4 gives the Changing Pattern of motor equivalent resistance during just returning.
Controller is measured the time interval of electric current and voltage and is preferably 1ms.
At the end of the judgment threshold of one equivalent resistance of definition, the size of this threshold value and time positive compensation process, there is certain relation at the remaining angle of steering wheel, the biggest, and remaining angle is the biggest, and when taking 0.5 here, effect is preferable.This judgment threshold obtains according to experiment, for different vehicles, has different optimization aim, and the value of this value can be different.
The time is just being compensated for returning, then measured by the decision-making module of controller, from returning and just compensating start time, the compensation time is carried out timing, obtain back just compensating the time, definition one simultaneously is returned and is just being compensated the judgment threshold of time, the size of this value with return just compensate at the end of the remaining angle of steering wheel have certain relation, the biggest, remaining angle is the least, and when taking 2 seconds here, effect is preferable.This judgment threshold obtains according to experiment, for different vehicles, has different optimization aim, and the value of this value can be different.
For motor equivalent resistance, if be less than judgment threshold by formula (1) calculated equivalent resistance, i.e. think back that positive compensation process terminates；If restoring time is more than, it is believed that return positive compensation process and terminate.
In whole time positive compensation process, the judged result of motor equivalent resistance and the judged result of restoring time are taked the logical relation of " logic or ", i.e. one of them judged result i.e. terminate back positive compensation process for " end ".
Beneficial effect: the application, on the basis of not changing existing EPS structure, utilizes the program development of controller (ECU), realizes returning without the EPS of rotary angle transmitter and just compensates function；For microcaloire and micro-field that appears on the market, in the case of cost does not improves, it is achieved return and just compensating function.Traditional return positive process and terminate determination methods often only with chronometry, so positive deficiency and time the most excessive phenomenon occur back under different road conditions with causing.When high vehicle speeds, return and the most excessively the stability of vehicle can be impacted, entail dangers to driving safety time serious.After using the determination methods in the application, return positive process and depend not only on back the time of positive process, additionally depend on the running status of motor, so can overcome a lot of problems of tradition determination methods.
Accompanying drawing explanation
Fig. 1 electric boosting steering system functional block diagram；
Graph of a relation between the internal each module of Fig. 2 controller；
The return performance of Fig. 3 three kinds of steering of vehicle of the same race compares；
Fig. 4 just return during the situation of change of motor equivalent resistance.
Detailed description of the invention
Below in conjunction with the accompanying drawings the application is described further.
As it is shown in figure 1, herein described electric boosting steering system includes brushless motor and the controller being connected with brushed DC motor and the steering of steering wheel, torque sensor, reducing gear and vehicle.Within the system, the hand-power on steering wheel is changed into torque signal (signal of telecommunication) and gives controller by torque sensor, and controller controls, according to torque signal, the torque that the output of brushed DC motor is certain.The steering that this torque amplifies rear drive vehicle through reducing gear completes power steering.After the go to action of driver is finished, needing to rotate to center position steering wheel, this process i.e. returns positive process.During preferably just returning after turning to end, driver unclamps steering wheel, and when vehicle keeps travelling, wheel and steering wheel, under vehicle returns the driving of positive force, can be quickly returning to center position.And on the vehicle being equipped with electric boosting steering system, owing in electric boosting steering system, drive mechanism exists certain friction and damping, its return performance of vehicle being provided with electric boosting steering system can be caused to have deteriorated compared with return performance when using mechanical steering system, i.e. wheel and steering wheel can not quickly return to center position.In order to reach preferably to return plus effect, in this process, the torque signal of torque sensor output is close to 0, but controller needs to control motor exports a less compensation moment of torsion to compensate friction and the damping of reducing gear, motor and wheel steering system self, so wheel and steering wheel can quickly return center position under vehicle returns the driving of positive force.Return the problems such as the most over or under for avoid prior art easily occurs, the application by the judged result of motor equivalent resistance and the judged result of restoring time are taked the logical relation of " logic or " to terminating back just to compensate to judge.Its equivalent resistance and restoring time are measured by measurement module and the decision-making module of controller, described measurement module and decision-making module in the controller with motor drive module and torque sensor interface module, speed/engine speed input module annexation as shown in Figure 2.
The concrete determination methods of the application is: i.e. in returning positive compensation process, controller passes through measurement module voltage U and the electric current I flowing through motor with the time interval measurement motor of every 1ms, and utilize formula (1) to calculate motor equivalent resistance, if during less than judgment threshold, i.e. think and meet back the Rule of judgment of motor equivalent resistance during positive compensation process terminates to judge.
Controller returns positive process duration by decision-making module record simultaneously, if restoring time is more than judgment threshold, i.e. thinks and meets back the Rule of judgment of restoring time during positive compensation process terminates to judge.
As long as two above condition meets one, i.e. think back that positive compensation process terminates.
The above; it is only the present invention preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope of present disclosure; according to technical scheme and inventive concept equivalent or change in addition thereof, all should contain within protection scope of the present invention.
Claims (1)
1. the electric boosting steering system of a non-angular sensor returns the determination methods of positive compensation process finish time, it is characterised in that:
Described electric boosting steering system includes brushless motor and the controller being connected with brushed DC motor；Described controller includes torque sensor interface module, speed or engine speed input module, decision-making module, motor drive module and measurement module；Described decision-making module and torque sensor interface module and speed or engine speed input module are connected, in order to measure back the time that just compensates, determine current of electric and calculate other parameter of power-assisted process；Described measurement module is all connected with motor with motor drive module, and wherein measurement module is in order to measure electric current and the voltage of motor；
Described determination methods is: controller is just compensating two parameters of time as basis for estimation using motor equivalent resistance with returning, use the relation of " logic or ", i.e. equivalent resistance or return just is compensating any one parameter of time when meeting condition, is considered as back positive compensation process and terminates；Specifically judge that flow process is as follows:
Measure the voltage U of motor by measurement module at a certain time interval returning positive compensation process middle controller and flow through the electric current I of motor, and utilizing formula (1) calculating motor equivalent resistance:
(1)
The judgment threshold of one equivalent resistance of definition；
For motor equivalent resistance, if be less than judgment threshold by formula (1) calculated equivalent resistance, i.e. think that this judged result is for " logical truth "；
The decision-making module of controller carries out timing to the compensation time from returning and just compensating start time simultaneously, obtain back just compensating the time, and define the judgment threshold just compensating the time one time, if restoring time is more than judgment threshold, i.e. think that this judged result is for " logical truth "；
In whole time positive compensation process, to the 3rd) step and the 4th) to take " logic or " computing, i.e. one of which judged result be " logical truth " for the judged result of step, i.e. thinks back that positive compensation process terminates.
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| CN201410731326.1A CN104608816B (en) | 2014-12-05 | 2014-12-05 | A kind of electric boosting steering system returns the determination methods just compensating finish time |
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| CN201410731326.1A CN104608816B (en) | 2014-12-05 | 2014-12-05 | A kind of electric boosting steering system returns the determination methods just compensating finish time |
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| CN104608816A CN104608816A (en) | 2015-05-13 |
| CN104608816B true CN104608816B (en) | 2016-11-30 |
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| KR20170109727A (en) * | 2016-03-21 | 2017-10-10 | 현대모비스 주식회사 | Steering torque compensation apparatus and method for electric power steering system |
| FR3049257B1 (en) * | 2016-03-24 | 2019-04-26 | Jtekt Europe | METHOD OF ASSISTED STEERING MANAGEMENT WITH INDIRECT RECONSTRUCTION OF FLYWHEEL TORQUE INFORMATION |
| CN106697039B (en) * | 2016-11-23 | 2018-11-09 | 耐世特汽车系统（苏州）有限公司 | It is a kind of based on the active rotary transform tensor system for having brush electric boosting steering system |
| CN107117202B (en) * | 2017-04-10 | 2019-06-07 | 大连创新零部件制造公司 | Automobile electric booster steering system with intelligent overload protection function |
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