CN105292246B - Automobile electric power-assisted steering friciton compensation control method - Google Patents
Automobile electric power-assisted steering friciton compensation control method Download PDFInfo
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- CN105292246B CN105292246B CN201510882387.2A CN201510882387A CN105292246B CN 105292246 B CN105292246 B CN 105292246B CN 201510882387 A CN201510882387 A CN 201510882387A CN 105292246 B CN105292246 B CN 105292246B
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Abstract
The invention discloses a kind of automobile electric booster steering system friciton compensation control method：Electric booster steering controller the part of the friciton compensation torque as electric power steering assist torque, realizes the common compensation of electric boosting steering system sound moment of friction according to motor angular velocity signal of change friciton compensation torque.During electric power steering power-assisted change in gain, the steering friction that the friciton compensation control of tentering value experiences driver changes, and causes " road feel obscures " in subjective assessment.The change friciton compensation control method based on electric power steering power-assisted gain is proposed, ensures that driver can obtain intimate identical friction in different power-assisted gains and feels, eliminate influence of the electric power steering power-assisted gain to system friction torque.
Description
Technical field
The present invention relates to a kind of friciton compensation control method for electric boosting steering system, more specifically, it is related to
And one kind can compensate for electric boosting steering system sound moment of friction, identical friction is obtained under different power-assisted gains and is felt
Friciton compensation control method.
Background technology
The product that electric power steering is combined as electronic technology with steering, the automobile industry development three that links closely are main greatly
Topic, while power-assisted is provided, mitigates pilot control burden, the steering behaviour of automobile can be also improved, with its superior property
There can be progressively replacement hydraulic power-assisted steering trend with feature, have broad application prospects.Electric boosting steering system is original
Motor and reducing gear are added on the basis of mechanical system, adds the moment of friction of steering.It is excessive during switch operation
System friction torque make it that road feel is lost and automobile return performance is poor.In most achievements in research, electric power steering friction is mended
Sign function or saturation function that control is based primarily upon motor angular velocity are repaid, applies the compensation control of fixed amplitude under different speeds
Torque processed reduces the friction of system.The compensating torque of application can only could incorporate system control when steering has relative rotation
In, the dynamic friction torque of compensation system, and static friction torque during for only having relative rotation trend does not act on then.
Patent CN103863393A proposes a kind of electric boosting steering system friction compensation method, based on steering wheel angle speed
Friciton compensation torque is calculated, and introduces gain of torque on the basis of friciton compensation torque, during as friciton compensation Calculating Torque during Rotary
A multiplier, when rotating torque is smaller compensate a larger friciton compensation torque, compensated when rotating torque is larger
One less friciton compensation torque, but fail to compensate for the static friction torque of steering.
Patent CN103935395A proposes a kind of electric boosting steering system adaptive friction compensation method, based on steering system
System characteristic automatically determines the friciton compensation control electric current of a drive cycle, can compensate for the sound moment of friction of steering,
But influence of the electric power steering power-assisted gain to steering moment of friction is not considered.
The content of the invention
The technical problems to be solved by the invention are to overcome the problem of prior art is present, there is provided one kind is used for electronic
The friciton compensation control method of servo steering system.
In order to solve the above technical problems, the present invention adopts the following technical scheme that realization：Design a kind of achievable sound
The method of friction control that moment of friction compensates jointly, friciton compensation torque is set to be realized between steering wheel rotation and stopping smoothed
Cross.
The friciton compensation torque of electric boosting steering system is calculated using equation below：
Work as motor angular velocityAbsolute value be more than, motor angular velocity saturation functionDuring saturation,
Output valve is ± 1, and friciton compensation torque is, i.e.,, wherein
For the sign function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering；Work as motor angular velocityWhen being zero,Output valve is 0, and friciton compensation torque is, for compensating the quiet of steering
Friction；It is the transient process of steering sound friciton compensation when motor angular velocity saturation function unsaturation.
The control of the Variable Amplitude friciton compensation based on electric power steering power-assisted gain described in technical scheme refers to：It is based on
The power-assisted Gain tuning friciton compensation torque amplitude proportion coefficient χ of electric boosting steering system, ensure electric boosting steering system
Identical friction can be obtained in different power-assisted gains to feel.
Friciton compensation torque amplitude proportion coefficient χ is determined using equation below：
During in order to ensure that friciton compensation torque amplitude proportion coefficient χ is determined, Ta/TsRatio is when hand-wheel torque is close to 0
Validity, using method is calculated as below：
。
Beneficial effects of the present invention：
The friciton compensation control method of electric boosting steering system of the present invention can compensate the dynamic of steering simultaneously
Static friction torque, friciton compensation torque is realized between steering wheel rotation and stopping and seamlessly transit, solve tradition and be based on motor
The drawbacks of sign function of angular speed or the friciton compensation control method of saturation function can not compensate steering static friction torque.
The friciton compensation control method of electric boosting steering system of the present invention, increase for electric power steering power-assisted
During benefit change, road feel blooming caused by the system friction torque of driver's impression changes therewith, propose based on electric boosted
Power steering gain-boosted op amp friciton compensation torque amplitude proportion coefficient χ, makes driver be obtained under different steering wheel angles almost
Identical friction is felt.
Generally speaking, the invention fundamentally solves the problems, such as electric power steering sound friciton compensation, solves electronic help
The system friction torque that driver caused by power power steering change in gain experiences variation issue therewith.
Brief description of the drawings
Fig. 1 is the schematic diagram of electric boosting steering system structure composition of the present invention.
Fig. 2 (a) is the schematic diagram of the sign function of the present invention based on motor angular velocity, and Fig. 2 (b) is saturation function
Realize the schematic diagram of the friciton compensation control of electric boosting steering system.
Fig. 3 is the schematic block of the simulation test platform of the present invention for the control of electric boosting steering system friciton compensation
Figure.
Fig. 4 is sound friciton compensation recovery curve of the present invention.
Fig. 5 is steering moment of friction change curve caused by electric power steering power-assisted gain of the present invention.
In Fig. 1,1. steering wheels, 2. torque sensors, 3. electric booster steering controllers, 4. vehicle speed sensor,
5. armature voltage, 6. current sensors, 7. assist motors, 8. motor decelerating mechanisms, 9. rack and pinion steering gears,
10. tire.
Embodiment
The present invention is explained in detail below in conjunction with the accompanying drawings：
Refering to Fig. 1, when pilot control steering wheel 1 turns to, torque sensor 2 detects the steering moment of driver, car
Fast sensor 4 detects the speed of operation of automobile, and electric booster steering controller 3 is according to torque sensor and running car speed
The target control electric current of assist motor 7 is determined, current sensor 6 detects the actual current signal of assist motor 7, electric boosted
Deviation of the steering controller 3 based on assist motor target current and actual current signal, by PID closed-loop controls, it is determined that applying
Armature voltage 5 on assist motor 7, the level of torque and rotation direction of assist motor 7 are controlled, motor torque is through motor
Decelerator 8 amplifies, and acts on and is used as motor power-assisted square on steering drive axle, hand-wheel torque and motor power-assisted square collective effect are in tooth
Take turns in rack steering gear 9, tire on the drive wheels 10 rotates, and realizes turning function.
Fig. 2（a）It show the friciton compensation control method of the fast sign function of base motor angular velocity of the present invention, root
According to motor angular velocityApply the friciton compensation torque of certain amplitude, i.e.,, wherein：Tfc
For the friciton compensation torque of application, TfrictionIt is the sign function of motor angular velocity for steering moment of friction, output valve
For ± 1, it is defined as
Fig. 2（b）It show the friciton compensation control method of the saturation function of the present invention based on motor angular velocity, root
According to motor angular velocityApply the friciton compensation torque of certain amplitude, i.e.,, wherein：For the saturation function of motor angular velocity, export-restriction is ± 1, is defined as
WhereinFor the motor angular velocity threshold values of setting.
As can be seen that the friciton compensation control of sign function and saturation function based on motor angular velocity, can only compensate and be
Dynamic friction torque when system rotates, it can not but compensate the static friction torque of steering.Therefore, a kind of achievable sound of design is rubbed
The method of friction control that torque compensates jointly is wiped, friciton compensation torque is realized between steering wheel rotation and stopping smoothed
Cross.The friciton compensation torque of electric boosting steering system is calculated using equation below：
Work as motor angular velocityAbsolute value be more than, motor angular velocity saturation functionDuring saturation,Output valve is ± 1, and friciton compensation torque is, i.e.,,
WhereinFor the sign function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering；
Work as motor angular velocityWhen being zero,Output valve is 0, and friciton compensation torque is, for mending
Repay the static friction of steering；It is the transition of steering sound friciton compensation when motor angular velocity saturation function unsaturation
Process.
Refering to Fig. 3, the signal of simulation test platform is controlled for electric boosting steering system friciton compensation of the present invention
Block diagram, including the vehicle based on the Matlab/Simulink electric boosting steering system models established and based on CarSim softwares
Model（Tire and Full Vehicle Dynamics model）.Electric boosting steering system model include Steering wheel module, assist motor module, etc.
Imitate four steering gear module, steering resisting moment computing module parts.
The corner of steering wheel or torque input, diverted system transmission produce a front wheel angle, input CarSim vehicles
Model, CarSim auto models then export tire force and tire positional parameter gives electric boosting steering system model.It is electric boosted
Assist motor module in steering model, motor power-assisted square is determined according to measured torque and GES, export to etc.
Imitate steering gear module.Meanwhile the steering drag computing module in electric boosting steering system model, according to CarSim auto models
The tire force and tire positional parameter of output, calculate steering resisting moment, export to equivalent steering gear module.Pilot control power
Square overcomes steering resisting moment together with motor power-assisted square, completes steering operation.
Refering to Fig. 4, curve shown in figure is to control simulation test platform based on Fig. 3 electric boosting steering systems friciton compensation
The electric boosting steering system sound friciton compensation transient process of acquisition.Electric boosting steering system sound friciton compensation, which is crossed, to be tided over
When journey curve obtains, open current loop control is carried out to assist motor, the friciton compensation torque of application is
。
Friciton compensation torque TfcAs shown in solid in Fig. 4, by adjusting regulation coefficient γ, make friciton compensation torque in steering wheel
Module rotates realizes smooth transition between stopping by the compensation of static friction torque.
Refering to Fig. 5, curve shown in figure is to control l-G simulation test to put down based on Fig. 3 electric boosting steering systems friciton compensation
Platform, carry out the sinusoidal input l-G simulation test of steering wheel angle under speed 100km/h（Corner amplitude is 19 °, frequency 0.2Hz）,
The steering-wheel torque relative rotation variation relation curve of acquisition.As can be seen that with the increase of steering wheel angle, at A, B, C tri-
Longitudinal intercept be gradually reduced, i.e., driver obtain friction feel also be gradually reduced.It may infer that：If friciton compensation value compared with
Greatly, with the phenomenon for continuing increase and retardant curve torsion occurring of steering wheel angle（Such as：As steering wheel angle θhIt is more than
When 0, under identical steering wheel angle amplitudeCorresponding steering-wheel torque, it can be less thanCorresponding steering wheel turns
Square）.This can not only reflect real road feel, and driver will also, which felt, has external force in interference steering operation.
In the case of system damping and inertia is not considered, the torque equilibrium equation for turning to little gear is：
Ts+Ta+ Tfc= Tp+ Tfriction
Wherein, TpConvert the steering resisting moment turned in little gear.
The relation of motor power-assisted square and steering-wheel torque can be calculated by following formula：
Ta=K·G·TS
In formula, K is electric power steering power-assisted gain；G is electric power steering assist motor speed reducing ratio.
Therefore, steering-wheel torque can be expressed as：
As can be seen that the hand-wheel torque information T of driversIn both contained steering resisting moment Tp/ (1+KG), is also wrapped
System friction torque (the T after friciton compensation is containedfriction- Tfc) /(1+K·G).When electric power steering power-assisted gain
When changing, the steering drag that driver experiences changes, and the system friction that driver experiences also changes therewith.Before
The purpose of change of person is to coordinate hand-wheel torque level and road feel, is the information that driver should obtain；The change of the latter
" road feel obscures " in subjective assessment is caused, while EPS power-assisted gains K is bigger, the system friction torque after friciton compensation
( Tfriction- Tfc)/(1+KG) it is smaller, i.e., friction information proportion is smaller in hand-wheel torque, uneven
Impact of the road surface to steering wheel can be more obvious.
Intimate identical friction sensation is respectively provided with, it is necessary to according to electronic in order to ensure steering wheel in different power-assisted gain K
Power-assisted steering power-assisted gain K is to dynamic friction compensating torque TfcIt is adjusted.Assuming that the desired steering frictional force of driver
Square is Tprefer, then：
Due to Ta=K·G·Ts, can obtain：
Wherein, it is motor power-assisted square T in bracketaFor 0 when, it is necessary to compensation moment of friction numerical value；Remaining is to disappear
Except motor power-assisted square TaWhen not being 0, steering moment of friction T desired to driverpreferInfluence.Further,
Ignore friciton compensation torque TfcSound conversion saturation function, can obtain：
Wherein, Tprefer/ TfrictionIt is the one group of calibration coefficient changed with speed；Ta/ TSHelped by electric power steering
Force characteristic is calculated in real time；During in order to ensure that friciton compensation torque amplitude proportion coefficient χ is determined, Ta/TsRatio is in steering wheel power
Square is close to validity when 0, using method is calculated as below：
。
Work as TSFor 0 when, Ta/ TSIt is intended to ∞, to ensure Ta/ TSValidity when hand-wheel torque is close to " 0 ", works as ︱
TSDuring ︱ ＜ 0.5Nm, T is madeS=0.5, i.e.,
Claims (4)
1. a kind of friciton compensation control method for electric boosting steering system, it is characterised in that design is a kind of to be can be achieved to move
The method of friction control that static friction torque compensates jointly, friciton compensation torque is set to be realized between steering wheel rotation and stopping smoothly
Transition, electric boosting steering system friciton compensation torque are calculated using equation below：
Wherein, TfcFor friciton compensation torque；χ is friciton compensation torque amplitude proportion coefficient；Sat () is saturation function, output
It is limited to ± 1；For motor angular velocity；γ is regulation coefficient；TfrictionFor steering moment of friction.
2. the friciton compensation control method of electric boosting steering system according to claim 1, it is characterised in that automobile electricity
The dynamic common compensation control of servo steering system sound friction refers to：
1）Work as motor angular velocityAbsolute value be more than, motor angular velocity saturation function sat () saturation when, sat () defeated
It is ± 1 to go out value, and friciton compensation torque is χ sat (± 1) Tfriction, i.e. χ sat (sign ())Tfriction, wherein sign () be
The sign function of motor angular velocity, export-restriction is ± 1, for compensating the pivoting friction of steering；
2）Work as motor angular velocityWhen being zero, sat () output valve be 0, friciton compensation torque is χ sat (γ) Tfriction, it is used for
Compensate the static friction of steering；
3）It is the transient process of steering sound friciton compensation when motor angular velocity saturation function unsaturation.
3. the friciton compensation control method of electric boosting steering system according to claim 1, it is characterised in that based on electricity
The power-assisted Gain tuning friciton compensation torque amplitude proportion coefficient χ of dynamic servo steering system, ensure that electric boosting steering system exists
Identical friction can be obtained during different power-assisted gains and feels that friciton compensation torque amplitude proportion coefficient is true using equation below
It is fixed：
Wherein, TpreferFor the desired steering moment of friction of driver, should be adjusted according to driver's subjective feeling
It is whole, i.e. Tprefer/TfrictionIt is the one group of calibration coefficient changed with speed；TaFor motor power-assisted square；TsFor hand-wheel torque.
4. the friciton compensation control method of electric boosting steering system according to claim 3, it is characterised in that in order to protect
When card friciton compensation torque amplitude proportion coefficient χ is determined, Ta/TsValidity of the ratio when hand-wheel torque is close to 0, using such as
Lower computational methods：
。
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Families Citing this family (12)
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|---|---|---|---|---|
| US10106190B2 (en) | 2017-02-17 | 2018-10-23 | Ford Global Technologies, Llc | Methods and apparatus for determining kinetic friction in electromechanical steering actuators |
| CN106891987A (en) * | 2017-03-14 | 2017-06-27 | 辽宁工业大学 | Electric automobile electric power-assisted steering apparatus and control method |
| GB201717135D0 (en) | 2017-10-18 | 2017-12-06 | Trw Ltd | Electrical power assisted steering system |
| CN109533013B (en) * | 2018-11-30 | 2021-02-19 | 北京经纬恒润科技股份有限公司 | Electric power steering system and friction compensation method and controller thereof |
| CN111348101B (en) * | 2018-12-24 | 2021-10-08 | 耐世特汽车系统（苏州）有限公司 | Electric steering assistance system, friction compensation method, device, equipment and medium |
| CN109747706B (en) * | 2019-01-15 | 2021-12-24 | 北京汽车股份有限公司 | Steering power-assisted compensation method and system and vehicle |
| DE102019206980B4 (en) * | 2019-05-14 | 2023-06-22 | Volkswagen Aktiengesellschaft | Method and steering control device for determining a manipulated variable for setting a power steering torque in a vehicle steering system |
| KR20210000019A (en) * | 2019-06-24 | 2021-01-04 | 현대자동차주식회사 | Steering control method and control system of motor driven power steering 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 |
| 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 |
| 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 |
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