CN106428194B - Electric hydraulic power-assisted steering control method based on factor compensation - Google Patents
Electric hydraulic power-assisted steering control method based on factor compensation Download PDFInfo
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- CN106428194B CN106428194B CN201610804529.8A CN201610804529A CN106428194B CN 106428194 B CN106428194 B CN 106428194B CN 201610804529 A CN201610804529 A CN 201610804529A CN 106428194 B CN106428194 B CN 106428194B
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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
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to the electric hydraulic power-assisted steering control methods compensated based on factor, by detecting steering oil liquid pressure of the electric vehicle under different front steering axle load and rotating speed respectively, corresponding steering motor electric current and steering pump rotating speed under each steering oil liquid pressure are measured；According to the relationship of Calibrated current and rotating speed, rotating speed coefficient is obtained；Detection steering hydraulic oil temperature in real time, according to the standard of formulation, obtains the rotating speed coefficient corresponding to steering hydraulic oil temperature when temperature is less than set temperature value；Electric hydraulic power-assisted steering Controlling model is established, the actual speed of electric powered steering oil pump is calculated.The present invention fully takes into account front steering axle load or speed variation causes the influence of steering force larger fluctuation, it efficiently solves the problems, such as to turn to non helping hand for a long time under low temperature environment simultaneously or power-assisted is smaller, can effectively take into account steering response when ease of steering and high speed of the vehicle in low speed.
Description
Technical field
The present invention relates to the electric hydraulic power-assisted steering control methods compensated based on factor, belong to vehicle booster and turn to neck
Domain.
Background technology
The pure electricity that integral new-energy passenger is divided into hybrid power passenger car with engine idle stop function, is not equipped with engine
Dynamic car or fuel battery passenger car, since the function that engine driving steering pump provides power steering occurs interrupting or can not be real
It is existing, therefore the widely used electric hydraulic power-assisted steering system of integral new-energy passenger.The energy supply mechanism of electric hydraulic power-assisted steering system
For electric powered steering oil pump, steering pump, steering pump is driven to mostly use vane pump type by steering motor.
Electric hydraulic power-assisted steering system is used based on steering oil liquid pressure variation corresponding current variation in the prior art
Method for controlling frequency conversion.In non-steering situation, the low corresponding steering motor electric current of pressure for turning to fluid is relatively low, and motor speed maintains
In lower level.In steering situation, the corresponding steering motor electric current of pressure increase for turning to fluid increases over limit value,
By the frequency conversion of controller, steering motor rotating speed rises to higher level, into assistant mode.But the control method is not abundant
Consider the steering resisting moment variation corresponding to front steering axle load or speed variation.Change with weight on front axle, speed, steering force meeting
There is larger variation, steering stability is poor.
Moreover, when starting under the conditions of low temperature (generally below -20 DEG C), steering oil viscosity resistance is big, electric powered steering oil
The blade of pump is not thrown away from rotor groove, and steering oil liquid pressure is small, and steering situation and non-steering situation are unable to frequency conversion, is turned to
Long-time non helping hand；When blade is thrown away from rotor groove, steering oil viscosity hinders caused by being influenced by temperature and length of pipe
There is uncertainty in the difference of power, non-steering situation frequency conversion, only normally frequency conversion rotating speed can be improved in steering situation, due to steering oil
Fluid viscosity resistance is big, and the long period is needed to be in the smaller state of power steering, after hydraulic fluid temperature rises and viscosity resistance reduces,
Power steering could restore normal.Therefore the existing frequency conversion control technique based on curent change cannot effectively overcome cold-starting long
Time turns to non helping hand or the smaller problem of power-assisted.
Invention content
It is an object of the invention to overcome the deficiencies in the prior art, it is proposed that it is a kind of based on factor compensation electric hydaulic help
Power rotating direction control method, solve existing electric hydraulic power-assisted steering control method do not consider front steering axle carry, speed and
The influence of temperature change and the problem for causing electric hydraulic power-assisted steering stability poor.
The present invention is achieved by following scheme：
Based on the electric hydraulic power-assisted steering control method of factor compensation, steps are as follows：
Step 1, steering oil liquid pressure P of the electric vehicle under different front steering axle load and different speeds is detected respectivelyx,
The setting value F of influence and steering force according to different flow to steering force size0, each steering oil liquid pressure P is measured respectivelyxIt is right
The steering motor electric current I answeredxWith steering pump rotating speed nx；
Step 2, summarize and turn to oil liquid pressure PxCorresponding steering motor electric current IxWith steering pump rotating speed nx, according to calibration
The relationship of electric current and rotating speed obtains rotating speed coefficient f (px)；
Step 3, detection turns to oil liquid temperature T in real time, when temperature is less than set temperature value T0When, according to the standard of formulation,
Obtain the rotating speed coefficient y (tx) turned to corresponding to oil liquid temperature less than set temperature；
Step 4, electric hydraulic power-assisted steering is established according to the rotating speed coefficient f (px) and y (tx) that are obtained in step 3 and controls mould
Type calculates the actual speed n of electric powered steering oil pump.
Further, the different front steering axle load described in step 1 include front steering axle unloaded, front steering axle semi-load and
Front steering axle is fully loaded.
Further, the different speeds described in step 1 include low speed, middling speed and high speed.
Further, the electric hydraulic power-assisted steering Controlling model is specific as follows：
As T >=T0When, which is expressed as：
N=n0×f(px)
As T ＜ T0When, which is expressed as：
N=n0×f(px)×y(tx)
Wherein, n is electric powered steering oil pump actual speed；n0For the electric powered steering pump speed of non-steering situation setting；f
(px) it indicates to turn to the rotating speed coefficient corresponding to oil liquid pressure；Y (tx) is the rotating speed coefficient turned to corresponding to oil liquid temperature.
Further, the set temperature value T0It is -20 DEG C.
The advantageous effect of the present invention compared to the prior art is：
The present invention proposes the electric hydraulic power-assisted steering control method compensated based on factor, and the control method is by summarizing
Steering oil liquid pressure of the electric vehicle under different front steering axle load and different speeds and its corresponding steering motor electric current and
Steering pump rotating speed obtains rotating speed coefficient according to the relationship of Calibrated current and rotating speed.Then, monitoring turns to oil liquid temperature in real time,
And obtain the rotating speed coefficient turned to corresponding to oil liquid temperature for being less than set temperature.Finally, corresponding according to oil liquid pressure is turned to
Rotating speed coefficient corresponding to rotating speed coefficient and temperature establishes electric hydraulic power-assisted steering Controlling model, to calculate electric powered steering oil
The actual speed of pump.The present invention fully takes into account front steering axle load or speed variation causes the influence of steering force larger fluctuation,
It efficiently solves the problems, such as to turn to non helping hand for a long time under low temperature environment simultaneously or power-assisted is smaller, can effectively take into account vehicle in low speed
When ease of steering and steering response when high speed, enhance electric vehicle steering stability.
Description of the drawings
Fig. 1 is the pass of rotating speed n and steering force F under different weight on front axle and speed corresponding pressure of the embodiment of the present invention
System；
Fig. 2 is the relationship of rotating speed n and oil pressure settling time H at a temperature of different steering fluid of the embodiment of the present invention.
Specific implementation mode
The present invention will be further described in detail with reference to the accompanying drawings and examples.
The embodiment of electric hydraulic power-assisted steering control method based on factor compensation
When being turned to using electric hydraulic power-assisted steering system control electric vehicle, since front steering axle load or speed change
So that steering force is will appear larger variation, influence steering stability, and under cryogenic, is susceptible to the starting duration time
Turn to non helping hand or the smaller problem of power-assisted.Therefore, the present embodiment " electric hydraulic power-assisted steering controlling party based on factor compensation
Factor in method " includes mainly：Front steering axle load, speed and temperature.Electric hydraulic power-assisted steering control in the present embodiment
Method realize the step of include mainly：(1) it obtains and turns to the corresponding rotating speed coefficient of oil liquid pressure；(2) it obtains and turns to oil liquid temperature
Corresponding rotating speed coefficient；(3) electric hydraulic power-assisted steering Controlling model is established.It is specific as follows：
Step (1) obtains the corresponding rotating speed coefficient of steering liquid oil pressure
Invariablenes turning speed, steering oil flow quantity are constant when if electric vehicle steering motor works, front steering axle load or vehicle
Influence of the variation to electric hydraulic power-assisted steering of speed be：
When front steering axle load is (to be less than 30km/h) when fully loaded or speed is relatively low, steering resisting moment at this time and steering
Power is big, steering oil liquid pressure is big, and electric hydaulic power-assisted is big.
When front steering axle load is (to be higher than 80km/h) when unloaded or speed is higher, steering resisting moment at this time and steering
Power is small, steering oil liquid pressure is small, and electric hydaulic power-assisted is small.
If when electric vehicle front steering axle load and constant speed, corresponding steering oil liquid pressure is constant, steering motor work
Making the influence of rotating speed and the variation of corresponding steering oil flow quantity to steering force is：
When steering motor working speed and corresponding steering oil flow quantity increase, steering force becomes smaller.
When steering motor working speed and corresponding steering oil flow quantity reduce, steering force becomes larger.
The low speed and high speed being arranged in the present embodiment are only preferred embodiment, are not the limit to the present invention
System.The standard value of speed may be set according to actual conditions as other embodiment.
Influence of the variation based on above-mentioned front steering axle load or speed to electric hydraulic power-assisted steering, in the present embodiment point
Not Jian Ce electric vehicle front steering axle zero load when steering oil liquid pressure P under low speed, middling speed and high speed1、P2、P3, the present embodiment
Defined in less than 60km/h be low speed, 60km/h~100km be middling speed, higher than 100km/h be high speed.
Steering oil liquid pressure P when electric vehicle front steering axle semi-load under low speed, middling speed and high speed4、P5、P6, electronic vapour
Steering oil liquid pressure P of the vehicle front steering axle full load under low speed, middling speed and high speed7、P8、P9.Then, as shown in Figure 1, foundation
The setting value F of influence and steering force of the different flow to steering force size0, measure corresponding at different steering oil liquid pressure Px
Steering motor electric current IxWith steering pump rotating speed nX.Wherein neFor steering motor rated speed.
Then summarize and turn to the corresponding steering motor electric current I of oil liquid pressure PxxWith steering pump rotating speed nX, with electric vehicle
Non- steering situation turns to oil liquid pressure P0Corresponding steering motor electric current I0With steering pump rotating speed n0On the basis of, utilize minimum two
Multiplication demarcates steering motor electric current IxWith steering pump rotating speed nXFunctional relation, obtain the corresponding rotating speed coefficient f of pressure Px
(px), as shown in table 1.
Table 1
| Pressure p | Electric current I | Rotating speed n | Rotating speed coefficient f (px) |
| P0 | I0 | n0 | f0 |
| P1 | I1 | n1 | f1 |
| P2 | I2 | n2 | f2 |
| P3 | I3 | n3 | f3 |
| …… | …… | …… | …… |
| Px | Ix | nx | fx |
Step (2) obtains the corresponding rotating speed coefficient of steering hydraulic oil temperature
Temperature sensor is set on the steering oil pipe of electric vehicle, is monitored, is acquired in real time to turning to oil liquid temperature
Oil liquid temperature T is turned to, and its corresponding electric signal is transmitted in steering controller.According to the practical feelings of the steering boost system
Condition, set temperature value T0。
The set temperature value T chosen in the present embodiment0It=- 20 DEG C, in other embodiments of the invention, can be according to tool
Body actual conditions, to set temperature value T0It is configured, it is not limited to the present embodiment.
As temperature value T >=T of detection0When, turning to fluid, still there is preferable mobility, temperature characterisitic to be established to its oil pressure
Time effects are smaller.
As the temperature value T ＜ T of detection0When, the mobility for turning to fluid is affected by temperature larger, and the temperature corresponding turn the low
To fluid viscosity resistance is bigger, mobility is poorer.In this case, the power-assisted of steering is difficult to build in a short time
It is vertical.Therefore, the rotating speed for needing raising steering pump at this time, to accelerate the foundation of steering power-assisted.
Setting is less than T0Steering fluid temperature acquisition point be respectively T1、T2、T3……Tx(temperature reduces successively), detection is not
Synthermal TxWith different steering motor rotating speed nX ’When steering fluid oil pressure settling time H.Then, as shown in Fig. 2, foundation《QC/
T 299.2-2014 automotive hydraulic power assisted steering pump part 2s：Test method》Regulation to set fluid oil pressure settling time H0
(being generally preferably less than 10 seconds), summarizes different temperatures TxThe corresponding steering pump rotating speed for establishing oil liquid pressure at the appointed time
nX ’.With set temperature value T0And the steering pump rotating speed n of non-steering situation0On the basis of, utilize least square method calibration temperature TxWith
Steering pump rotating speed nX ’Functional relation, obtain and turn to the corresponding rotating speed coefficient y (tx) of oil liquid temperature, as shown in table 2.
Table 2
| Temperature T | Rotating speed n ' | Rotating speed coefficient |
| T0 | n0 | y0 |
| T1 | ’ n1 | y1 |
| T2 | ’ n2 | y2 |
| T3 | ’ n3 | y3 |
| …… | …… | …… |
| Tx | ’ nx | yx |
Step (3) establishes electric hydraulic power-assisted steering Controlling model
The rotating speed coefficient y corresponding to the corresponding rotating speed coefficient f (px) of pressure and steering oil liquid temperature according to above-mentioned acquisition
(tx), electric hydraulic power-assisted steering Controlling model is established, the actual speed n of electric powered steering oil pump is calculated.The model is as follows：
As T >=T0When, it can be directly according to the electric hydraulic power-assisted steering controlling party compensated based on weight on front axle or speed
Method carries out frequency conversion, which is：
N=n0×f(px)
As T ＜ T0When, it needs using the actual speed for obtaining steering pump according to the variation for turning to oil liquid pressure or temperature,
Then the Controlling model is：
N=n0×f(px)×y(tx)
Wherein, n is electric powered steering oil pump actual speed；n0For the electric powered steering pump speed of non-steering situation setting；f
(px) it indicates to turn to the rotating speed coefficient under oil liquid pressure；Y (tx) is the rotating speed coefficient turned to corresponding to temperature.
Steering pump rotating speed best when being suitble to turn to is obtained based on above-mentioned model, and electric hydaulic power-assisted is turned to realize
To control.
Specific implementation mode of the present invention is presented above, but the present invention is not limited to described embodiment.
Under the thinking that the present invention provides, to the skill in above-described embodiment by the way of being readily apparent that those skilled in the art
Art means are converted, are replaced, are changed, and play the role of with the present invention in relevant art means it is essentially identical, realize
Goal of the invention it is also essentially identical, the technical solution formed in this way is finely adjusted above-described embodiment to be formed, this technology
Scheme is still fallen in protection scope of the present invention.
Claims (5)
1. the electric hydraulic power-assisted steering control method based on factor compensation, which is characterized in that steps are as follows：
Step 1, steering oil liquid pressure P of the electric vehicle under different front steering axle load and different speeds is detected respectivelyx, foundation
The setting value F of influence and steering force of the different flow to steering force size0, each steering oil liquid pressure P is measured respectivelyxIt is corresponding
Steering motor electric current IxWith steering pump rotating speed nx；
Step 2, it is summarised in and turns to oil liquid pressure PxLower corresponding steering motor electric current IxWith steering pump rotating speed nx, according to mark
The relationship of constant current and rotating speed obtains rotating speed coefficient f (px)；
Step 3, detection turns to oil liquid temperature T in real time, when temperature is less than set temperature value T0When, according to the standard of formulation, obtain low
In the rotating speed coefficient y (tx) of set temperature turned to corresponding to oil liquid temperature；
Step 4, according to the rotating speed coefficient f (px) and y (tx) obtained in step 2,3, electric hydraulic power-assisted steering control mould is established
Type calculates the actual speed n of electric powered steering oil pump.
2. the electric hydraulic power-assisted steering control method according to claim 1 based on factor compensation, which is characterized in that step
Different front steering axle load described in rapid 1 include that unloaded front steering axle, front steering axle semi-load and front steering axle are fully loaded.
3. the electric hydraulic power-assisted steering control method according to claim 1 based on factor compensation, which is characterized in that step
Different speeds described in rapid 1 include low speed, middling speed and high speed.
4. the electric hydraulic power-assisted steering control method according to claim 1 based on factor compensation, which is characterized in that institute
The electric hydraulic power-assisted steering Controlling model stated is specific as follows：
As T >=T0When, which is expressed as：
N=n0×f(px)
As T ＜ T0When, which is expressed as：
N=n0×f(px)×y(tx)
Wherein, n is electric powered steering oil pump actual speed；n0For the electric powered steering pump speed of non-steering situation setting；F (px) table
Show the rotating speed coefficient turned under oil liquid pressure；Y (tx) is the rotating speed coefficient turned to corresponding to oil liquid temperature.
5. the electric hydraulic power-assisted steering control method according to claim 1 based on factor compensation, which is characterized in that institute
The set temperature value T stated0It is -20 DEG C.
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| CN201610804529.8A CN106428194B (en) | 2016-09-06 | 2016-09-06 | Electric hydraulic power-assisted steering control method based on factor compensation |
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| CN110816642A (en) * | 2018-08-08 | 2020-02-21 | 郑州宇通客车股份有限公司 | Control method and system for electro-hydraulic power steering under low-temperature working condition |
| CN111605608A (en) * | 2020-04-17 | 2020-09-01 | 吉利汽车研究院（宁波）有限公司 | Power-assisted vehicle steering control method, device and system and storage medium |
| CN115339508B (en) * | 2022-09-02 | 2024-04-09 | 一汽解放汽车有限公司 | Electric power steering control method, electric power steering control device, computer equipment and storage medium |
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| JP3521873B2 (en) * | 2001-01-17 | 2004-04-26 | トヨタ自動車株式会社 | Hydraulic control device for automatic transmission for vehicles |
| JP2006248395A (en) * | 2005-03-11 | 2006-09-21 | Hitachi Ltd | Power steering device |
| JP5531896B2 (en) * | 2010-02-04 | 2014-06-25 | 日産自動車株式会社 | Electric hydraulic device and hydraulic oil temperature control method for electric hydraulic device |
| DE102010061298B3 (en) * | 2010-12-16 | 2012-06-06 | Thyssenkrupp Presta Ag | Steering device for motor vehicle, comprises hydraulic drive for varying angular position of wheel of motor vehicle, and temperature sensor is provided for direct or indirect determination of temperature value of hydraulic fluid |
| CN102700605A (en) * | 2012-05-30 | 2012-10-03 | 潍柴动力股份有限公司 | Hydraulic power-assisted steering system of hybrid vehicle and control method for hydraulic power-assisted steering system |
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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co.,Ltd. Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd. |