CN106275059A - A kind of damping controller of automobile electric booster steering system - Google Patents
A kind of damping controller of automobile electric booster steering system Download PDFInfo
- Publication number
- CN106275059A CN106275059A CN201610727399.2A CN201610727399A CN106275059A CN 106275059 A CN106275059 A CN 106275059A CN 201610727399 A CN201610727399 A CN 201610727399A CN 106275059 A CN106275059 A CN 106275059A
- Authority
- CN
- China
- Prior art keywords
- multiplier
- outfan
- damping
- booster torquemoment
- booster
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000013016 damping Methods 0.000 title claims abstract description 48
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention discloses and a kind of turn to hand-power stable under different speeds and turn to the damping controller of a kind of automobile electric booster steering system of return, including booster torquemoment threshold module, viscous damping module, speed damping clipping module and the series circuit of multiplier one, it is characterized in that: low pass filter D6 and the input of booster torquemoment rate of change window function series circuit, outfan is connected with booster torquemoment signal and multiplier two respectively, the input of booster torquemoment window function and outfan are connected with booster torquemoment signal and described multiplier two respectively, the outfan of described multiplier two is connected with the input solving Rhizoma Nelumbinis wave filter, the described outfan solving Rhizoma Nelumbinis wave filter is connected with the other end of described multiplier one, the outfan of this multiplier one is connected with motor.The present invention has compared with the prior art under different speed and turns to hand-power stable and turn to the remarkable advantage accurately that resets.
Description
Technical field
The present invention relates to a kind of control technology, the damping controller of a kind of automobile electric booster steering system.
Background technology
During electric power steering system of automobile controls, for suppressing back positive overshoot, the handling stability of raising automobile, prior art is at electricity
Increase by a control ring on machine current regulator.After general engineering goods determine, the coefficient of friction of system structure just cannot be changed
, electric boosting steering system needs this coefficient of friction is carried out Software match, and the damping that can realize static state controls.Because it is actual
Getting on the car under each speed, required damping is the most unalterable, according to the statistics of driving habits, along with the increase of speed,
Damping current needs to promote；And it practice, traditional damping controls the most only to focus on the trend with speed change, and have ignored another
An outer key factor, and it is unreasonable to cause damping to control.Another one key factor is contemplated herein, and i.e. power torque is to resistance
The impact of Buddhist nun's electric current, it is common that using it as threshold process, when more than a certain setting threshold value, then close damping current.And it is traditional
Damping control deflection hard landing, so there is problems in that
1, stability problem and safety problem；Low speed hand-power crosses heavy or high speed hand-power is partially light, so certain peace can be brought
Full hidden danger；
2, any non-essential damping may cause: inertia or the steering feel of viscous, can overshoot or return mistake during return
Slowly.
Summary of the invention
It is an object of the invention to provide one turn to hand-power stable under different speeds and turn to return a kind of vapour accurately
The damping controller of car electric boosting steering system.
The technical scheme realizing the object of the invention is, including booster torquemoment threshold module, viscous damping module, speed damping
Clipping module and the series circuit of multiplier one, it is characterised in that: low pass filter D6 and booster torquemoment rate of change window function string
Connection the input of circuit, outfan be connected with booster torquemoment signal and multiplier two respectively, the input of booster torquemoment window function and
Outfan is connected with booster torquemoment signal and described multiplier two respectively, the outfan of described multiplier two and solution Rhizoma Nelumbinis wave filter
Input connects, and the described outfan solving Rhizoma Nelumbinis wave filter is connected with the other end of described multiplier one, the output of this multiplier one
End is connected with motor.
The present invention has compared with the prior art under different speed and turns to hand-power stable and turn to reset the most excellent
Point.
Accompanying drawing explanation
Fig. 1 is frame principle figure of the present invention；Fig. 2 is damping control module figure of the present invention；Fig. 3 is that booster torquemoment window function is defeated
Enter output characteristics schematic diagram；Fig. 4 is booster torquemoment rate of change window function input-output characteristic schematic diagram；Fig. 5 is different speed bars
Damping current curve synoptic diagram under part.
Detailed description of the invention
For the drawbacks described above overcoming existing skill to exist, the present invention uses following technical proposals, as shown in Figure 2-5, and this
The damping of bright electric boosting steering system controls technical scheme and is made up of two parts: damping controlling party mount structure and booster torquemoment become
Rate window function theory structure.
Damping controlling party mount structure 8 is existing control technology, and it is by booster torquemoment threshold module 11, viscous damping module 12
Form with speed damping clipping module 13.The damping required under different speeds of automobile is the most unalterable, real according to driving
Border is added up, and along with the raising of speed, damping current needs to promote, but speed change is only focused in the control of damping by prior art
Factor, and do not consider the power torque impact on damping current, although this has been considered, but be typically it as threshold value
Processing, when more than a certain threshold value set, just close damping current, the damping of this extensive style controls to cause in background technology
The bad scarce limit the slowest with return overshoot or return of steering stability.For solving this problem, damp control block diagram in prior art
Following control structure is increased on architecture basics, as in figure 2 it is shown, low pass filter D6 and booster torquemoment rate of change window function module 10
Connect, booster torquemoment window function module 9 and above-mentioned low pass filter and booster torquemoment rate of change window function block coupled in series circuit phase
Parallel connection, booster torquemoment signal input with above-mentioned series circuit and parallel circuit respectively is connected, this series circuit and parallel connection electricity
The outfan on road is connected with multiplier two respectively, and the other end of this multiplier two is connected with the input solving Rhizoma Nelumbinis wave filter, multiplication
Two inputs of device one connect with the outfan of described speed damping clipping module and the outfan of described solution Rhizoma Nelumbinis wave filter respectively
Connect, the outfan output damping current of this multiplier one.
The damping current value of control circuit Zhong Xia road of the present invention circuit 8 is:
Being calculated as follows of control circuit Zhong Shang road circuit branch of the present invention: 9 is booster torquemoment window function, if Fig. 3 is for helping
After the input of power moment of torsion, processing its size, obtain the damping torque factor 1, its computing formula is as follows:
10 is booster torquemoment rate of change window function, its input-output characteristic such as Fig. 4, Ji Shang road branch tubing string relative speed variation
Process because there is change in the hand-power that uses in driving procedure of driver.Its computing formula is as follows:
Low pass filter (its cut-off frequency is D6) and decoupled filter (its cut-off frequency is D5), its expression formula is:
Current time is the filtered damping torque factor；Previous moment is the previous of the filtered damping torque factor
When value calculates the most next time, previous moment can store the value that current time calculates；Wave filter adjustable parameter refers to D5, D6；
FS is the iteration rate of this function of filter recursion.
Embodiment
Input variable design to relating to is as follows:
Booster torquemoment: 3Nm
Tubing string rotating speed: 10Revs/s
Speed: 8km/h
Lower road circuit branch calculates:
1.5×(10-0)2+ 1.5 × (10-0)=150+15=165
Because result of calculation 165 is more than D2=0.8, so the damping that damping current final result the is 0.8A electricity before Gai Jining
Stream
Upper road circuit branch calculates:
The purpose first filtered booster torquemoment is so that the shake that input does not has other to mix, in order to get rid of burr signal,
Being 3Nm in view of input, the information of calculating is not enough, needs in view of moment of torsion at the variable quantity of unit interval, at this
In set: booster torquemoment rate of change is as 40Nm/s
So entering finally into the damping torque factor of wave filter
The damping torque factor=0.5 × 0.24=0.12
If beating steering wheel (frequency is at more than 20Hz) soon, Ze Shang road branch is totally constrained, the most last damping because of
Son=0,
And if beating steering wheel (frequency is within 20Hz) slowly, the last damping factor of Ze Shang road branch is 0.12, institute
0.8 × 0.12=0.096A is should be with the damping current after improving.
It is an advantage of the invention that the damping current difference before and after example above can contrast improvement, if
Traditional, then normal power-assisted can be produced and significantly hinder, turn to low speed is light unfavorable, and after improving, hence it is evident that weaken
Damping current, serves and changes with booster torquemoment with speed, it is achieved more reasonably damp control.
Claims (1)
1. a damping controller for automobile electric booster steering system, including booster torquemoment threshold module, viscous damping module,
Speed damping clipping module and the series circuit of multiplier one, it is characterised in that: low pass filter D6 and booster torquemoment rate of change
The input of window function series circuit, outfan are connected with booster torquemoment signal and multiplier two respectively, booster torquemoment window function
Input and outfan are connected with booster torquemoment signal and described multiplier two respectively, the outfan of described multiplier two and solution Rhizoma Nelumbinis
The input of wave filter connects, and the described outfan solving Rhizoma Nelumbinis wave filter is connected with the other end of described multiplier one, this multiplier
The outfan of one is connected with motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727399.2A CN106275059B (en) | 2016-08-25 | 2016-08-25 | A kind of damping controller of automobile electric booster steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610727399.2A CN106275059B (en) | 2016-08-25 | 2016-08-25 | A kind of damping controller of automobile electric booster steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106275059A true CN106275059A (en) | 2017-01-04 |
| CN106275059B CN106275059B (en) | 2019-04-26 |
Family
ID=57676168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610727399.2A Active CN106275059B (en) | 2016-08-25 | 2016-08-25 | A kind of damping controller of automobile electric booster steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106275059B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
| JP2007214064A (en) * | 2006-02-13 | 2007-08-23 | Kuraray Co Ltd | Polymer electrolyte membrane for solid polymer fuel cell, membrane-electrode assembly, and fuel cell |
| CN103192871A (en) * | 2012-01-09 | 2013-07-10 | 江苏罡阳动力转向器厂 | Automobile electric power steering active aligning system |
| JP2015182517A (en) * | 2014-03-20 | 2015-10-22 | トヨタ自動車株式会社 | Steering intention determination device and vehicle control device |
| CN105644618A (en) * | 2014-11-28 | 2016-06-08 | 现代摩比斯株式会社 | Apparatus for compensating disturbance of electric power steering system |
-
2016
- 2016-08-25 CN CN201610727399.2A patent/CN106275059B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007214064A (en) * | 2006-02-13 | 2007-08-23 | Kuraray Co Ltd | Polymer electrolyte membrane for solid polymer fuel cell, membrane-electrode assembly, and fuel cell |
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
| CN103192871A (en) * | 2012-01-09 | 2013-07-10 | 江苏罡阳动力转向器厂 | Automobile electric power steering active aligning system |
| JP2015182517A (en) * | 2014-03-20 | 2015-10-22 | トヨタ自動車株式会社 | Steering intention determination device and vehicle control device |
| CN105644618A (en) * | 2014-11-28 | 2016-06-08 | 现代摩比斯株式会社 | Apparatus for compensating disturbance of electric power steering system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106275059B (en) | 2019-04-26 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 453003 Heping Avenue 322, Xinxiang City, Henan Province Applicant after: YUBEI STEERING SYSTEM (XINXIANG) CO.,LTD. Address before: 453003 Peace Avenue 322, Hongqi District, Xinxiang City, Henan Province Applicant before: YUBEI STEERING SYSTEM Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200520 Address after: 453000 2398 Makino Avenue, Xinxiang high tech Zone, Henan Patentee after: XINXIANG AIDIWEI AUTOMOTIVE TECHNOLOGY Co.,Ltd. Address before: 453003 No. 322 Heping Avenue, Henan, Xinxiang Patentee before: YUBEI STEERING SYSTEM (XINXIANG) Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220615 Address after: 2398 Muye Avenue, high tech Zone, Xinxiang City, Henan Province Patentee after: YUBEI STEERING SYSTEM (XINXIANG) CO.,LTD. Address before: 2398 Muye Avenue, high tech Zone, Xinxiang City, Henan Province Patentee before: XINXIANG AIDIWEI AUTOMOTIVE TECHNOLOGY CO.,LTD. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 2398 Muye Avenue, high tech Zone, Xinxiang City, Henan Province Patentee after: North Henan Steering System (Xinxiang) Co.,Ltd. Address before: 2398 Muye Avenue, high tech Zone, Xinxiang City, Henan Province Patentee before: YUBEI STEERING SYSTEM (XINXIANG) CO.,LTD. |