CN105292246A - Automobile electric power steering friction compensation control method - Google Patents
Automobile electric power steering friction compensation control method Download PDFInfo
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- CN105292246A CN105292246A CN201510882387.2A CN201510882387A CN105292246A CN 105292246 A CN105292246 A CN 105292246A CN 201510882387 A CN201510882387 A CN 201510882387A CN 105292246 A CN105292246 A CN 105292246A
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- friction
- friciton compensation
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Abstract
The invention discloses an automobile electric power steering friction compensation control method. The method comprises the steps that an electric power steering controller calculates the friction compensation torque according to a motor angular velocity signal, the friction compensation torque serves as one part of the electric power steering assistant torque, and joint compensation of kinetic friction torque and static friction torque of an electric power steering system is achieved; when an electric power steering assist gain changes, friction compensation control of a constant amplitude enables a driver to feel that the steering system friction changes, and a road feeling blur of subjective evaluation is caused. The friction compensation control method based on the electric power steering assist gain is proved, it is guaranteed that under different assist gains, the driver can obtain almost the same friction feeling, and the influence of the electric power steering assist gain on the system friction torque is eliminated.
Description
Technical field
The present invention relates to a kind of friciton compensation control method for automobile electric booster steering system, more particularly, it relates to one can compensate electric boosting steering system sound friction moment, all obtains the friciton compensation control method of identical friction sensation under different power-assisted gain.
Background technology
The product that electric power steering combines with steering swivel system as Eltec, the large theme of the automobile industry development three that links closely, while power-assisted being provided, alleviating pilot control burden, also the turning efficiency of automobile can be improved, the performance superior with it and feature have progressively alternative hydraulic power-assisted steering trend, have broad application prospects.Electric boosting steering system adds motor and speed reduction gearing on original mechanical system basis, adds the friction moment of steering swivel system.During switch operation, excessive system friction moment is lost by road feel and automobile return performance is poor.In most achievements in research, electric power steering friciton compensation controls mainly based on symbolic function or the saturation function of motor angular velocity, and the compensatory control moment applying fixed amplitude under the different speed of a motor vehicle reduces the friction of system.The compensating moment applied can only relatively rotate Shi Caineng at steering swivel system and incorporate in Systematical control, and the dynamic friction torque of charging system, does not then act on for only there being static friction torque when relatively rotating trend.
Patent CN103863393A proposes a kind of electric boosting steering system friction compensation method, based on steering handwheel angular speed calculation friciton compensation moment, and torque gain is introduced on the basis of friciton compensation moment, as multiplier during friciton compensation Calculating Torque during Rotary, a larger friciton compensation moment is compensated when rotating torque is less, compensate a less friciton compensation moment when rotating torque is larger, but fail to compensate the static friction torque of steering swivel system.
Patent CN103935395A proposes a kind of electric boosting steering system adaptive friction compensation method, automatically determine that the friciton compensation of a drive cycle controls electric current based on steering swivel system characteristic, the sound friction moment of steering swivel system can be compensated, but do not consider that the gain of electric power steering power-assisted is on the impact of steering swivel system friction moment.
Summary of the invention
Technical matters to be solved by this invention overcomes prior art Problems existing, provides a kind of friciton compensation control method for automobile electric booster steering system.
For solving the problems of the technologies described above, the present invention adopts following technical scheme to realize: design a kind of method of friction control realizing sound friction moment and jointly compensate, and makes friciton compensation moment realize seamlessly transitting between steering wheel rotation and stopping.
Electric boosting steering system friciton compensation moment adopts following formulae discovery:
Work as motor angular velocity
comparatively large, motor angular velocity saturation function sat (
) saturated time, sat (
) output valve is ± 1, friciton compensation moment is ± χ T
friction, namely χ sign (
) T
friction, wherein sign (
) be the symbolic function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering swivel system; Work as motor angular velocity
when being zero, sign (
) output valve is 0, friciton compensation moment is χ sat (γ) T
friction, for compensating the static friction of steering swivel system; When motor angular velocity saturation function unsaturation, it is the transient process of steering swivel system sound friciton compensation.
The Variable Amplitude friciton compensation based on the gain of electric power steering power-assisted described in technical scheme controls to refer to: based on the power-assisted Gain tuning friciton compensation amplitude proportion coefficient χ of electric boosting steering system, ensures that electric boosting steering system all can obtain identical friction sensation when different power-assisted gain.
Friciton compensation amplitude proportion coefficient χ adopts following formula to determine:
During in order to ensure that friciton compensation amplitude proportion coefficient χ determines, T
a/ T
sratio hand-wheel torque close to 0 time validity, adopt following method of calculating:
。
Beneficial effect of the present invention:
Automobile electric booster steering system friciton compensation control method of the present invention can compensate the sound friction moment of steering swivel system simultaneously, make friciton compensation moment realize seamlessly transitting between steering wheel rotation and stopping, solving tradition can not compensate steering swivel system static friction torque drawback based on the symbolic function of motor angular velocity or the friciton compensation control method of saturation function.
Automobile electric booster steering system friciton compensation control method of the present invention, during for electric power steering power-assisted change in gain, the system friction moment of chaufeur impression changes the road feel blooming caused thereupon, propose based on electric power steering power-assisted gain-boosted op amp friciton compensation moment amplitude proportion coefficient χ, chaufeur is obtained under different steering wheel angle and is close to identical friction sensation.
Generally speaking, this invention fundamentally solves electric power steering sound friciton compensation problem, solves the system friction moment variation issue thereupon that chaufeur that electric power steering power-assisted change in gain causes is experienced.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of automobile electric booster steering system structure of the present invention composition.
Fig. 2 is the schematic diagram that the symbolic function based on motor angular velocity of the present invention and saturation function realize the control of electric boosting steering system friciton compensation.
Fig. 3 is the schematic block diagram of the simulation test platform for the control of automobile electric power-assisted steering friciton compensation of the present invention.
Fig. 4 is sound friciton compensation recovery curve of the present invention.
Fig. 5 is the steering swivel system friction moment change curve that electric power steering power-assisted of the present invention gain causes.
In Fig. 1,1. steering handwheel, 2. torque sensor, 3. electric booster steering controller, 4. car speed sensor, 5. armature voltage, 6. current sensor, 7. assist motor, 8. motor decelerating mechanism, 9. rack and pinion steering gear, 10. tire.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is explained in detail:
Consult Fig. 1, when pilot control steering handwheel 1 turns to, torque sensor 2 detects the steering torque of chaufeur, car speed sensor 4 detects the speed of operation of automobile, electric booster steering controller 3 is according to the target control electric current of torque sensor and running car speed of a motor vehicle determination assist motor 7, current sensor 6 detects the actual current signal of assist motor 7, electric booster steering controller 3 is based on the deviation of assist motor target current and actual current signal, by PID closed loop control, determine the armature voltage 5 be applied on assist motor 7, control level of torque and the rotation direction of assist motor 7, motor torque amplifies through motor reducer 8, as motor power-assisted square on effect steering inner articulated shaft, hand-wheel torque and the combined action of motor power-assisted square are in tooth bar deflector 9, tire on the drive wheels 10 rotates, realize turning function.
Consult Fig. 2, Fig. 2 (a) is depicted as the friciton compensation control method of the fast symbolic function of base motor angular velocity of the present invention, according to motor angular velocity
apply the friciton compensation moment of certain amplitude, i.e. T
fc=sign (
) T
friction, wherein: T
fcfor the friciton compensation moment applied, T
frictionfor steering swivel system friction moment, be the symbolic function of motor angular velocity, output valve is ± 1, is defined as
Fig. 2 (b) is depicted as the friciton compensation control method of the saturation function based on motor angular velocity of the present invention, according to motor angular velocity
apply the friciton compensation moment of certain amplitude, i.e. T
fc=sat (
) T
friction, wherein: the saturation function that sat () is motor angular velocity, export-restriction is ± 1, is defined as
Wherein
for the motor angular velocity threshold values of setting.
Can find out, the friciton compensation based on the symbolic function of motor angular velocity and saturation function controls, can only the dynamic friction torque of charging system when rotating, and but can not compensate the static friction torque of steering swivel system.For this reason, design a kind of method of friction control realizing sound friction moment and jointly compensate, make friciton compensation moment realize seamlessly transitting between steering wheel rotation and stopping.The friciton compensation moment of electric boosting steering system adopts following formulae discovery:
T
fc=χsat[sat（
）+γ（1-︱sat(
)︱）]T
friction
Work as motor angular velocity
comparatively large, motor angular velocity saturation function sat (
) saturated time, sat (
) output valve is ± 1, friciton compensation moment is ± χ T
friction, namely χ sign (
) T
friction, wherein sign (
) be the symbolic function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering swivel system; When motor angular velocity is zero, output valve is 0, and friciton compensation moment is χ sign (γ) T
friction, for compensating the static friction of steering swivel system; When motor angular velocity saturation function unsaturation, it is the transient process of steering swivel system sound friciton compensation.
Consult Fig. 3, for the schematic block diagram of automobile electric power-assisted steering friciton compensation control imitation test platform of the present invention, comprise based on the electric boosting steering system model of Matlab/Simulink foundation and the auto model (tire and Full Vehicle Dynamics model) based on CarSim software.Electric boosting steering system model comprises Steering wheel module, assist motor module, equivalent deflector module, steering resisting torque computing module four parts.
The corner of steering handwheel or torque input, produce a front wheel angle through steering swivel system transmission, input CarSim auto model, and CarSim auto model then exports tire force and tire positional parameter to electric boosting steering system model.Assist motor module in electric boosting steering system model, according to torque measurement and vehicle speed signal determination motor power-assisted square, exports to equivalent deflector module.Meanwhile, the cornering resistance computing module in electric boosting steering system model, the tire force exported according to CarSim auto model and tire positional parameter, calculate steering resisting torque, export to equivalent deflector module.Pilot control moment overcomes steering resisting torque together with motor power-assisted square, completes steering operation.
Consult Fig. 4, curve shown in figure is the electric boosting steering system sound friciton compensation transient process obtained based on Fig. 3 electric power steering friciton compensation control imitation test platform.When electric boosting steering system sound friciton compensation recovery curve obtains, carry out open current loop control to assist motor, the friciton compensation moment of applying is
T
fc=χsat[sat（
）+γ（1-︱sat(
)︱）]T
friction。Friciton compensation moment T
fcas shown in solid line in Fig. 4, by adjustment regulation coefficient γ, friciton compensation torque is made to realize level and smooth transition by the compensation of static friction torque between Steering wheel module rotates and stops.
Consult Fig. 5, curve shown in figure is based on Fig. 3 electric power steering friciton compensation control imitation test platform, the steering wheel angle sine carried out under speed of a motor vehicle 100km/h inputs l-G simulation test, and (corner amplitude is 19 °, frequency is 0.2Hz), the steering-wheel torque relative rotation variation relation curve of acquisition.Can find out, along with the increase of steering wheel angle, A, B, C tri-longitudinal intercept at place reduce gradually, namely chaufeur obtains friction sensation and also reduces gradually.Can infer: if friciton compensation value is comparatively large, the continuation along with steering wheel angle increases and will there will be the phenomenon of retardant curve torsion (such as: as steering wheel angle θ
hwhen being greater than 0, under identical steering wheel angle amplitude
the steering-wheel torque that >0 is corresponding, can be lower than
the steering-wheel torque that <0 is corresponding).This not only can not reflect real road feel, and chaufeur also will be made to feel has external force at interference steering operation.
Do not considering in system damping and inertia situation, turning to the moment-equilibrium equation of miniature gears to be:
T
s+T
a+T
fc=T
p+T
friction
Wherein, T
pconversion is to the steering resisting torque turned on miniature gears.
The relation of motor power-assisted square and steering-wheel torque calculates by following formula:
T
a=K·G·T
S
In formula, K is the gain of electric power steering power-assisted; G is electric power steering assist motor reduction ratio.
Therefore, steering-wheel torque can be expressed as:
Can find out, the hand-wheel torque information T of chaufeur
sin both contained steering resisting torque T
p/ (1+KG), also contains the system friction moment (T after friciton compensation
friction-T
fc)/(1+KG).When the gain of electric power steering power-assisted changes, the cornering resistance that chaufeur is experienced changes, and the system friction that chaufeur is experienced also changes thereupon.The former change object is to coordinate hand-wheel torque level and road feel, is the information that chaufeur should obtain; The change of the latter causes " road feel is fuzzy " in subjective assessment, and K is larger in EPS power-assisted gain simultaneously, the system friction moment after friciton compensation
(T
friction-T
fc)/(1+KG) less, the information proportion that namely rubs in hand-wheel torque is less, and uneven road surface can be more obvious to the impact of steering handwheel.
In order to ensure that steering handwheel all has intimate identical friction sensation when different power-assisted gain K, need according to electric power steering power-assisted gain K dynamic friction compensating moment T
fcadjust.Suppose that the steering swivel system friction moment desired by chaufeur is T
prefer, so:
T
prefer=
Due to T
a=KGT
s, can obtain:
T
fc=(T
friction-T
fc)—
T
prefer
Wherein, be motor power-assisted square T in bracket
awhen being 0, need the friction moment numerical value compensated; Remaining is to eliminate motor power-assisted square T
awhen not being 0, to the steering swivel system friction moment T desired by chaufeur
preferimpact.Further, friciton compensation moment T is ignored
fcsound conversion saturation function, can obtain:
Wherein, T
prefer/ T
frictionit is one group of calibration coefficient with speed of a motor vehicle change; T
a/ T
scalculated in real time by electric power steering assist characteristic, in order to ensure this ratio at hand-wheel torque close to validity time " 0 ", its method of calculating is as follows:
。
Work as T
swhen being 0, T
a/ T
strend towards ∞, for ensureing T
a/ T
sat hand-wheel torque close to validity time " 0 ", as ︱ T
sduring ︱ < 0.5Nm, make T
s=0.5, namely
Claims (4)
1. the friciton compensation control method for electric boosting steering system, it is characterized in that, design a kind of method of friction control realizing sound friction moment and jointly compensate, make friciton compensation moment realize seamlessly transitting between steering wheel rotation and stopping, electric boosting steering system friciton compensation moment adopts following formulae discovery:
Wherein, T
fcfor friciton compensation moment; χ is friciton compensation moment amplitude proportion coefficient; Sat () sum functions, export-restriction is ± 1;
for motor angular velocity; γ is regulation coefficient; T
frictionfor steering swivel system friction moment.
2. electric boosting steering system friciton compensation control method according to claim 1, is characterized in that, the electric boosting steering system sound common compensatory control that rubs refers to:
1) motor angular velocity is worked as
comparatively large, motor angular velocity saturation function sat (
) saturated time, sat (
) output valve is ± 1, friciton compensation moment is ± χ T
friction, namely χ sign (
) T
friction, wherein sign (
) be the symbolic function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering swivel system;
2) motor angular velocity is worked as
when being zero, sign (
) output valve is 0, friciton compensation moment is χ sat (γ) T
friction, for compensating the static friction of steering swivel system;
3) when motor angular velocity saturation function unsaturation, be the transient process of steering swivel system sound friciton compensation.
3. electric boosting steering system friciton compensation control method according to claim 1, it is characterized in that, based on the amplitude proportion coefficient χ of electric boosting steering system power-assisted Gain tuning friciton compensation, ensure that electric boosting steering system all can obtain identical friction sensation when different power-assisted gain, friciton compensation amplitude proportion coefficient adopts following formula to determine:
Wherein, T
prefersteering swivel system friction moment desired by chaufeur, should adjust according to chaufeur subjective feeling, i.e. T
prefer/ T
frictionit is one group of calibration coefficient with speed of a motor vehicle change; T
afor motor power-assisted square; T
sfor hand-wheel torque.
4. the friciton compensation control method of electric boosting steering system according to claim 1, is characterized in that, during in order to ensure that friciton compensation amplitude proportion coefficient χ determines, and T
a/ T
sratio hand-wheel torque close to 0 time validity, adopt following method of calculating:
。
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|---|---|---|---|
| CN201510882387.2A CN105292246B (en) | 2015-12-07 | 2015-12-07 | Automobile electric power-assisted steering friciton compensation control method |
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| CN105292246A true CN105292246A (en) | 2016-02-03 |
| CN105292246B CN105292246B (en) | 2018-01-02 |
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|---|---|---|---|---|
| CN106891987A (en) * | 2017-03-14 | 2017-06-27 | 辽宁工业大学 | Electric automobile electric power-assisted steering apparatus and control method |
| US10106190B2 (en) | 2017-02-17 | 2018-10-23 | Ford Global Technologies, Llc | Methods and apparatus for determining kinetic friction in electromechanical steering actuators |
| CN109533013A (en) * | 2018-11-30 | 2019-03-29 | 北京经纬恒润科技有限公司 | A kind of electric boosting steering system and its friction compensation method and controller |
| CN109747706A (en) * | 2019-01-15 | 2019-05-14 | 北京汽车股份有限公司 | Compensation method, system and the vehicle of power steering |
| CN111348101A (en) * | 2018-12-24 | 2020-06-30 | 耐世特汽车系统（苏州）有限公司 | Electric steering assistance system, friction compensation method, device, equipment and medium |
| CN111942464A (en) * | 2019-05-14 | 2020-11-17 | 大众汽车有限公司 | Method for determining an adjustment variable for adjusting a servo steering torque and steering controller |
| CN112061229A (en) * | 2020-08-06 | 2020-12-11 | 上海拓为汽车技术有限公司 | Friction compensation method of electric power steering system |
| CN112124413A (en) * | 2019-06-24 | 2020-12-25 | 现代自动车株式会社 | Motor-driven power steering control method and motor-driven power steering control system |
| CN114919642A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Electric power steering compensation method and device and vehicle |
| CN114919652A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Method, device and equipment for controlling friction force along with speed and computer storage medium |
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| CN112124413A (en) * | 2019-06-24 | 2020-12-25 | 现代自动车株式会社 | Motor-driven power steering control method and motor-driven power steering control system |
| CN112061229A (en) * | 2020-08-06 | 2020-12-11 | 上海拓为汽车技术有限公司 | Friction compensation method of electric power steering system |
| CN115009353A (en) * | 2022-06-15 | 2022-09-06 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Method for adjusting electric power-assisted control parameters and electronic equipment |
| CN114919642A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Electric power steering compensation method and device and vehicle |
| CN114919652A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Method, device and equipment for controlling friction force along with speed and computer storage medium |
| CN114919652B (en) * | 2022-06-16 | 2023-10-27 | 上汽通用五菱汽车股份有限公司 | Method, device, equipment and computer storage medium for controlling friction force along with speed |
| CN114919642B (en) * | 2022-06-16 | 2024-05-10 | 上汽通用五菱汽车股份有限公司 | Electric power steering compensation method and device and vehicle |
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