CN106515708A - Power-assisted steering torque compensation method and system based on rotating angle information of steering wheel - Google Patents
Power-assisted steering torque compensation method and system based on rotating angle information of steering wheel Download PDFInfo
- Publication number
- CN106515708A CN106515708A CN201510571373.9A CN201510571373A CN106515708A CN 106515708 A CN106515708 A CN 106515708A CN 201510571373 A CN201510571373 A CN 201510571373A CN 106515708 A CN106515708 A CN 106515708A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- torque compensation
- bas
- factor
- rotation
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/205—Steering speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a power-assisted steering torque compensation method. The power-assisted steering torque compensation method comprises the following steps of detecting a rotating angle A and a rotating direction D of a steering wheel, and calculating out the angular speed Omega and the angular acceleration Sigma of the rotating of the steering wheel; according to the rotating direction D and the angular speed Omega, determining the basic torque compensation value Tq_bas required by an electronic hydraulic power-assisted steering system EHPS; according to the angular acceleration Sigma of the steering wheel, determining the amendment factor Factor of the basic torque compensation value Tq_bas; and according to the amendment factor Factor, amending the basic torque compensation value Tq_bas, and obtaining actual torque compensation value Tq_reserve. According to the power-assisted steering torque compensation method and system based on the rotating angle information of the steering wheel provided by the invention, accurate torque compensation value can be calculated through utilizing multi-direction and multi-type information of the steering wheel, and accurate calculation on a torque is realized at low cost, so as to reduce the consumption of automobile fuel.
Description
Technical field
The present invention relates to technical field of automobile electronic control, is based on steering wheel in particular to a kind of
The power-assisted steering torque compensation method and system of corner information.
Background technology
Automobile steering system substantially experienced purchaseless purely mechanic steering (MS, Mechanical
) and power-assisted steering (PS, Power Steering) Steering.With the development of technology, PS systems by
Gradually by traditional hydraulic power-assisted steering (HPS, Hydraulic Power Steering) system to electronic liquid
Pressure power-assisted steering (EHPS, Electric Hydraulic Power Steering) system and electric boosted
Turn to (EPS) system development.
Electronic hydraulic power-assisted steering system EHPS because possessing most of advantage of mechanical-hydraulic power-assisted, while
Energy consumption is also reduced, reacts also sensitiveer, power steering size also can be joined according to corner, speed etc.
Number is voluntarily adjusted, and more hommization, so that have become the selection of many domestic vehicles.EHPS systems
Structure mainly include：Power steering stgear, power steering sensor, check valve, vehicle speed sensor,
Course changing control lamp, vehicle speed sensor, engine sensor, oil storage tank, pressure limiting valve, electric hydraulic pump
With electronic-controlled power steering ECU.
Currently, for the vehicle using existing EHPS systems, the power of power-assisted steering hydraulic pump is usual
It is to be provided by electromotor.During vehicle is travelled, during Vehicular turn, the work of power-assisted steering pump
Work can consume certain moment of torsion.Therefore generally need that electromotor carries out extra torque compensation or moment of torsion is reserved,
A problem that to prevent the shake of vehicle emerged in operation vehicle and catch fire.Currently existing scheme is usually
The simple anglec of rotation according to steering wheel is calculating power-steering torque compensation value.
But, for this kind of EHPS systems based on the steering wheel anglec of rotation：
On the one hand the problem of presence is, due to the presence of self-aligning torque, the inside (court of driver
To 0 degree of direction of steering wheel) moment of torsion required during steering wheel is beaten more than the outside (direction of driver
The direction of disk maximum angle) beat moment of torsion required during steering wheel.Therefore, this can cause to calculate
The inaccurate problem of torque compensation value.
The problem of presence further aspect is that the oil pump in existing EHPS systems starts to turn in driver
During dynamic steering wheel, need to overcome larger resistance to do work.When driver starts steering wheel rotation or
The moment of torsion that rapidly EHPS systems need during steering wheel rotation is greater than helping when driver steadily beats steering wheel
Moment of torsion required for power steering.Therefore, this to will also result in the torque compensation value for calculating inaccurate
Problem.
The problem further aspect of presence is that existing EHPS systems only consider current steering wheel position,
And according to the steering wheel anglec of rotation calculating power-assisted steering torque compensation.Therefore, one can so be caused
Fixed moment of torsion is wasted, so as to increased the fuel consumption of vehicle.
In view of this, mend for the existing EHPS system power-assisted steerings moment of torsion based on the steering wheel anglec of rotation
The problems referred to above present in technology are repaid, needs to design the new power-assisted steering based on steering wheel angle information
Torque compensation method, to overcome the combustion of the inaccurate problem of the torque compensation value and vehicle for calculating simultaneously
The excessive problem of oil consumption.
The content of the invention
For above-mentioned technical problem, the present invention provides a kind of power-assisted steering based on steering wheel angle information
Torque compensation method and system, multi-faceted, the various category information of utilization orientation disk calculate more accurate
Torque compensation value.
For achieving the above object, the invention provides a kind of power-assisted steering torque compensation method, including：
Anglec of rotation A of detection steering wheel and direction of rotation D, and calculate the angular velocity omega of direction disc spins
And angular acceleration；According to direction of rotation D and angular velocity omega, electronic hydraulic power-assisted steering system is determined
Basic torque compensation value Tq_bas needed for EHPS；According to the angular acceleration of steering wheel, it is determined that substantially
Modifying factor Factor of torque compensation value Tq_bas；According to modifying factor Factor to basic moment of torsion
Offset Tq_bas is modified, and obtains actual torque offset Tq_reserve.
Further, the angular accelerationComputing formula be：
Angular acceleration
Wherein：Δ t is the unit time, and Δ ω is the angular velocity variable quantity in the unit time.
Further, the basic torque compensation needed for the determination electronic hydraulic power-assisted steering system EHPS
Value Tq_bas, including：
When detect direction of rotation D for rotate counterclockwise steering wheel when, search in sublist A1 to should
The actual torque offset Tq_bas of angular velocity omega；
When detect direction of rotation D for turn clockwise steering wheel when, search in sublist A2 to should
The actual torque offset Tq_bas of angular velocity omega；
Wherein,
Sublist A1 is built based on the test result to basic torque compensation for carrying out in advance
Linear interpolation table during rotate counterclockwise steering wheel, and
Sublist A2 is built based on the test result to basic torque compensation for carrying out in advance
Turn clockwise steering wheel when linear interpolation table.
Further, modifying factor Factor for determining basic torque compensation value Tq_bas, bag
Include：
When calculating angular accelerationDuring more than or equal to zero, search in sublist B1 to should angular accelerationModifying factor Factor；
When calculating angular accelerationDuring less than zero, search in sublist B2 to should angular velocity omega repair
Positive divisor Factor；
Wherein,
Sublist B1 is based on the test being modified to basic torque compensation result for carrying out in advance
As a result the angular acceleration for buildingLinear interpolation table during more than or equal to zero, and
Sublist B1 is based on the test being modified to basic torque compensation result for carrying out in advance
As a result the angular acceleration for buildingLinear interpolation table during less than zero.
Further, the acquisition actual torque offset Tq_reserve, including：By basic moment of torsion
Offset Tq_bas is multiplied by modifying factor Factor and draws actual torque offset Tq_reserve.
Further, the power-assisted steering torque compensation method also includes：Calculating direction disc spins
Angular velocity omega and angular accelerationAfterwards, angular velocity ω and angular accelerationIt is filtered respectively.
Present invention also offers a kind of power-assisted steering torque compensation system, including：Steering wheel, steering wheel
Rotary angle transmitter, engine controller, transmitter device, the connection of steering wheel angle sensor first end
The first end of steering wheel and the second end by In-vehicle networking connection engine controller, engine controller
The second end linkup transmit machine device, the engine controller also includes：Basic torque output module,
For exporting basic torque compensation value Tq_bas；Acceleration calculation module, for the rotation according to steering wheel
Gyration A and direction of rotation D calculate the angular acceleration of direction disc spins；Modifying factor exports mould
Block, for according to angular accelerationIt is determined that modifying factor Factor of basic torque compensation value Tq_bas；
Torque compensation multiplier, for correcting basic torque compensation value Tq_bas according to modifying factor Factor,
And export actual torque offset Tq_reserve.
Further, the steering wheel angle sensing by installing in electronic hydraulic power-assisted steering system EHPS
Device, or the steering wheel angle sensor by configuring in body electronics stabilisation systemss, detect steering wheel
Anglec of rotation A and direction of rotation D.
The power-assisted steering torque compensation method and system based on steering wheel angle information that the present invention is provided,
Multi-faceted, the various category information for being capable of utilization orientation disk calculates more accurate torque compensation value, uses
It is relatively low into realizing that originally moment of torsion is more accurately calculated, to save automobile fuel consumption；Moreover it is possible to
Torque step signal is enough overcome to cause the unnecessary frequent acceleration, deceleration problem of car load.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will be from following
Description in become obvious, or by the present invention practice recognize.
Description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the one of the application
Part, the schematic description and description of the present invention are used for explaining the present invention, do not constitute to this
Bright improper restriction.In the accompanying drawings：
Fig. 1 is the overall structure diagram of the power-assisted steering torque compensation system of one embodiment of the invention；
Fig. 2 is the internal module schematic diagram of the power-assisted steering torque compensation system of one embodiment of the invention；
Fig. 3 is the schematic diagram of another embodiment of the table B of the present invention；
Fig. 4 is the internal module schematic diagram of the compensation system of another embodiment of the present invention；
Fig. 5 is the schematic flow sheet of the power-assisted steering torque compensation method of one embodiment of the invention.
Specific embodiment
For making those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and
Specific embodiment is described in further detail to the present invention.The reality of the present invention is described in more detail below
Mode is applied, the example of the embodiment is shown in the drawings, wherein same or similar from start to finish
Label represents same or similar element or the element with same or like function.Below with reference to
The embodiment of Description of Drawings is exemplary, is only used for explaining the present invention, and can not be construed to this
The restriction of invention.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative used herein
" one ", " one ", " described " and " being somebody's turn to do " may also comprise plural form.Further should manage
Solution, the present invention description used in wording " including " refer to exist the feature, integer,
Step, operation, element and/or component, but it is not excluded that existing or adding one or more other spies
Levy, integer, step, operation, element, component and/or their group.It should be understood that when referred to here as
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other
Element, or can also there is intermediary element.Additionally, " connection " used herein or " coupling "
Wireless connection can be included or coupled.Wording "and/or" used herein includes one or more phases
The arbitrary device for listing item of association and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein
(including technical term and scientific terminology) with art of the present invention in those of ordinary skill
It is commonly understood by identical meaning.It should also be understood that those terms defined in such as general dictionary
Should be understood that the meaning consistent with the meaning in the context with prior art, and unless picture
Here equally define, will not be explained with idealization or excessively formal implication.
Fig. 1 is the overall structure diagram of the power-assisted steering torque compensation system of one embodiment of the invention.
As shown in figure 1, the present invention provides a kind of power-assisted steering torque compensation system, including：Steering wheel, side
To disk rotary angle transmitter, engine controller, transmitter device, steering wheel angle sensor first end
The first end of closure disk and the second end by In-vehicle networking connection engine controller, electromotor control
Second end linkup transmit machine device of device processed, the engine controller also include：Basic torque output
Module, for exporting basic torque compensation value Tq_bas；Acceleration calculation module, for according to direction
Anglec of rotation A of disk and direction of rotation D calculate the angular acceleration of direction disc spins；Modifying factor
Output module, for according to angular accelerationIt is determined that the modifying factor of basic torque compensation value Tq_bas
Factor；Torque compensation multiplier, for correcting basic torque compensation value according to modifying factor Factor
Tq_bas, and export actual torque offset Tq_reserve.
Used as a kind of embodiment, the power-assisted steering torque compensation system that the present invention is adopted can include：Send out
Motivation device ES, for output torque；Electro-hydraulic servo steering device EHPS, its connection ES,
Power-assisted is provided using the output torque of ES for Vehicular turn；Wherein, the EHPS is further included：
Steering wheel, for controlling vehicle heading；Steering wheel angle sensor, its input closure
Disk, to detect anglec of rotation A and the direction of rotation D of steering wheel；Wherein, the ES is further included：
Engine controller ECU, its input are connected to the outfan of steering wheel angle sensor, to receive
Anglec of rotation A for detecting and direction of rotation D, and to the input output control signal of ES, to control
ES actings processed and output torque.
As a kind of embodiment, the present invention can in wheel steering system installation direction disk rotation angular sensing
Device, to detect the information such as anglec of rotation A and the direction of rotation D of steering wheel.The rotation of steering wheel
Angle A refers to the angle of the positional deviation steering wheel zero degree baseline of current steering wheel.Direction disc spins side
Refer to that current steering wheel is diverted the left side (counterclockwise) of zero degree baseline or the right (clockwise) to D.
For example, the angular velocity of steering wheel can be obtained by anglec of rotation A of steering wheel and direction of rotation D
ω, and the rotation of steering wheel further can be obtained according to the angular velocity of steering wheel by equation below 1
Corner acceleration.For example, the information of steering wheel angle sensor detection passes through In-vehicle networking such as CAN
It is sent to control unit of engine (ECU).
Angular accelerationComputing formula be：
Angular acceleration(formula 1)
Wherein：Δ t is the unit time, and Δ ω is the angular velocity variable quantity in the unit time.
Further, the power-assisted steering torque compensation method also includes：By in wheel steering system
The steering wheel angle sensor of installation, or turned by the steering wheel configured in body electronics stabilisation systemss
Angle transducer, detects anglec of rotation A and the direction of rotation D of steering wheel.
It is noted that the information such as anglec of rotation A of steering wheel and direction of rotation D not only can be by peace
Dress steering wheel angle sensor is obtained, and can also be obtained by ECUs such as ESP, the present invention
Requirement is not made to this, only makes technology citing.In the present invention, not to steering wheel angle speed,
The preparation method of angular acceleration etc. makes regulation.
The power-assisted steering torque compensation method based on steering wheel angle information that the present invention is provided, Neng Gouli
More accurate torque compensation value is calculated with multi-faceted, the various category information of steering wheel, with relatively low
Into realizing that originally moment of torsion is more accurately calculated, to save automobile fuel consumption；Additionally it is possible to overcome
Torque step signal causes the unnecessary frequent acceleration, deceleration problem of car load.
Fig. 2 is the internal module schematic diagram of the power-assisted steering torque compensation system of one embodiment of the invention.
As shown in Fig. 2 the system also includes：The basic torque output module that is separately positioned in ECU, repair
Positive divisor output module, acceleration calculation module and multiplier, the basic torque output module
Input connects the outfan of the steering wheel angle sensor；The input of the acceleration calculation module
The outfan of the end connection steering wheel angle sensor；The outfan of the acceleration calculation module connects
Connect the input of modifying factor output module；The input of the multiplier connects the basic torsion respectively
The outfan of the outfan of square output module and the modifying factor output module, and by result of calculation
Tq_reserve is exported to ES.
Further, steering wheel angle sensor includes angle detecting module and angular velocity detection module.
Angle detecting module sends the direction nutation angle speed omega for detecting to basic torque output module, makees
For Section 1 |input paramete；Angular velocity detection module by the steering wheel direction of rotation D for detecting send to
Basic torque output module, used as Section 2 |input paramete.Basic torque output module is according to corresponding
Two |input parametes inquire about corresponding basic torque compensation value in its linear interpolation for configuring Table A
Tq_bas。
It is understood that the linear interpolation Table A (that is, software Table A) inquired about is with different angles
Speed is X-axis, and the corresponding torque value of different angular velocity is the bivariate table of Y-axis.The Table A can be by
Experimental calibration numerical value carries out matching and calibration, is tabled look-up with this and corresponded under different steering wheel angles
Basic torque compensation value Tq_bas.
As in Table A, due to the presence of self-aligning torque, driver inwardly beats steering wheel (direction
When the direction that 0 degree of steering wheel, i.e., counterclockwise), required moment of torsion and driver outwards beat direction
During disk (direction of direction disk maximum angle, i.e., clockwise), required moment of torsion is different.
The table (sublist A1) inquired about based on direction D and angular velocity omega when steering wheel rotates counterclockwise
The table (sublist A2) of inquiry is rotated in the direction of the clock different from steering wheel, and different bases are obtained with this
This torque compensation value Tq_bas.
Table A
The Table A is a linear interpolation table, and the value in table can be demarcated according to practical situation by technical staff,
And this patent does not do to discrete point quantity and arranges.
It is understood that those of ordinary skill in the art can be based on carrying out to basic moment of torsion in advance
The test result of compensation, builds linear interpolation Table A.As in Table A, linear interpolation Table A includes：
Basic torque compensation sublist A1 during rotate counterclockwise steering wheel；Turn clockwise steering wheel when it is basic
Torque compensation sublist A2.During for rotating steering wheel by same direction, angular velocity omega is bigger, substantially
The actual torque offset Tq_bas of moment of torsion is bigger.For each angular velocity omega, turn clockwise
Offset during steering wheel can all be more than actual torque offset during rotate counterclockwise steering wheel
Tq_bas。
Therefore, when detect direction of rotation D for rotate counterclockwise steering wheel when, in sublist A1 search
To should angular velocity omega actual torque offset Tq_bas；It is clockwise when direction of rotation D is detected
Rotation steering wheel when, search in sublist A2 to should angular velocity omega actual torque offset
Tq_bas。
Further, acceleration calculation module can receive angular velocity data from angular velocity detection module,
And angular acceleration is calculated according to formula 1 above.Then, acceleration calculation module will be calculated
Angular accelerationSend to modifying factor output module as Section 3 |input paramete.Modifying factor is exported
Module inquires about corresponding modifying factor according to Section 3 |input paramete in its linear interpolation for configuring table B
Factor。
As shown in tableb, it is contemplated that driver is starting to beat steering wheel (the now angular acceleration of steering wheelThan larger), the torque value needed for servo steering system is larger；And driver smoothly rotates afterwards
(the now angular acceleration of steering wheel during steering wheelIt is smaller), required moment of torsion is less.Starting
Beat steering wheel or rapidly beat steering wheel (angular accelerationMore than or equal to zero) when inquire about table (amendment
Sublist B1) and steering wheel (angular acceleration is beaten in the case where steering wheel position is gently beatenLess than zero) when look into
The table (amendment sublist B2) of inquiry is different, obtains different modifying factors Factor with this.
Table B
Table B is a linear interpolation table, and the value in table can be demarcated according to practical situation by technical staff,
And this patent does not do to discrete point quantity and arranges.It is understood that the table B looked into by this process be with
Steering wheel angle angular accelerationFor X-axis, with different accekerationsCorresponding modifying factor Factor
For the table of Y-axis.Those of ordinary skill in the art can be demarcated to table B according to practical situation.
For example, when angular acceleration is larger, corresponding factor value is than larger；It is less in angular acceleration to be, it is right
The factor value answered is less.So, when driver starts steering wheel rotation, the present invention can with one compared with
The torque value that rational servo steering system needs.And with driver's gradually stable steering wheel rotation,
Torque value required for power-assisted transition system must diminish also with steering wheel angle acceleration figure and gradually become little,
The waste of moment of torsion is avoided with this.
Therefore, those of ordinary skill in the art can be based on carrying out to basic torque compensation result in advance
The test result being modified, builds linear interpolation table B.
Shown in table B as shown in Figure 2, angular accelerationBigger, modifying factor Factor is bigger.
When calculating angular accelerationDuring more than or equal to zero, search in table B to should angular acceleration
Modifying factor Factor；When calculating angular accelerationDuring less than zero, search in table B to should
Modifying factor Factor of angular velocity omega.
Fig. 3 is the schematic diagram of another embodiment of the table B of the present invention.As shown in figure 3, as another
Embodiment is planted, linear interpolation table B can include：Angular accelerationAmendment sublist during more than or equal to zero
B1, and angular accelerationAmendment sublist B2 during less than zero.When calculating angular accelerationIt is more than or equal to
When zero, search in sublist B1 to should angular accelerationModifying factor Factor；When calculating
Angular accelerationDuring less than zero, search in sublist B2 to should angular velocity omega modifying factor
Factor.Certainly, as another kind of embodiment, linear interpolation table B can also include：Angular accelerationAmendment sublist B1 during more than zero, and angular accelerationAmendment sublist B2 during less than or equal to zero.It is right
In the Further Division of table B, be conducive to improving the accuracy tabled look-up, and follow-up maintenance table B's is simple
Property.
It will be appreciated by those of ordinary skill in the art that for Table A and table B, can be according to follow-up
Factor of influence constantly extended and corrected Table A and table B, the especially supplement to table B and complete
It is kind, therefore the sublist of the corresponding factor can be constantly increasing in Table A and table B.
With reference to Fig. 1 understand, steering wheel angle sensor 2 be used for obtain steering wheel 1 current angular,
The information such as angular velocity and its direction.These information are sent to by In-vehicle networking 3, such as CAN lines
Engine controller 4 (ECU).Engine controller 4 according to the angle of steering wheel 1 and its direction,
The information such as the tarnsition velocity of steering wheel, obtain the torque compensation of power steering by looking into nominal data table
Value.Control unit of engine is according to power steering offset, and other loads are (such as water pump, air-conditioning
Compressor etc.) torque compensation value, control engine device 5 in throttle opening and igniting carry
Anterior angle is realizing the compensation to moment of torsion.In the present invention, do not realize that moment of torsion is mended to controlling engine system
The method repaid uses restraint.
Further, basic torque compensation value Tq_bas is multiplied by into modifying factor Factor and draws reality
Torque compensation value Tq_reserve.Therefore, the present invention passes through steering wheel direction of rotation to basic moment of torsion
Tq_bas carries out difference demarcation, and on this basis, demarcates different according to steering wheel angle angular acceleration
Modifying factor Factor such that it is able to it is final to obtain more accurately required for servo steering system
Torque compensation value.
A kind of power-assisted steering torque compensation method based on steering wheel angle information and be that the present invention is provided
System, multi-faceted, the various category information for being capable of utilization orientation disk calculate more accurate torque compensation value,
Torque step signal can be overcome to cause the unnecessary frequent acceleration, deceleration problem of car load.
Fig. 4 is that the internal module of the power-assisted steering torque compensation system of another embodiment of the present invention is illustrated
Figure.As shown in figure 4, in order that calculate obtain torque compensation numerical value it is more stable, be conducive to starting
The moment of torsion of machine controller ECU is adjusted, after steering wheel angle magnitude of angular velocity ω is filtered by wave filter
Stable magnitude of angular velocity ω _ filter is obtained, and subsequently software checking book is carried out by parameter of ω _ filter
(for example, Table A) obtains basic torque compensation value Tq_bas that servo steering system needs.In the same manner,
Steering wheel angle angular acceleration valuesStable angular acceleration values are obtained after being filtered by wave filter, subsequently withSoftware checking book (for example, table B) is carried out for parameter and obtains factor
Factor。
Therefore, on the basis of the torque compensation system shown in Fig. 2 or 3, the moment of torsion shown in Fig. 4 is mended
The system of repaying increased the first wave filter, be filtered with the magnitude of angular velocity ω that angular velocity detection module sends
Ripple；The second wave filter is also add, with the angular acceleration values sent to acceleration calculation moduleCarry out
Filtering.
Fig. 5 is the module diagram of the power-assisted steering torque compensation system of one embodiment of the invention.As schemed
Shown in 4, the present invention provides a kind of power-assisted steering torque compensation method, including：S1, detection steering wheel
Anglec of rotation A and direction of rotation D, and calculate the angular velocity omega and angular acceleration of direction disc spins；
S2, according to direction of rotation D and angular velocity omega, determine needed for electronic hydraulic power-assisted steering system EHPS
Basic torque compensation value Tq_bas；S3, according to the angular acceleration of steering wheel, it is determined that basic moment of torsion is mended
Repay modifying factor Factor of value Tq_bas；S4, basic moment of torsion is mended according to modifying factor Factor
Repay value Tq_bas to be modified, and obtain actual torque offset Tq_reserve.
The beneficial effect of this patent is：What difference was conventional simply uses steering wheel angle, corner speed
The method for obtaining power-assisted steering torque compensation value.This patent allows also for the direction of steering wheel angle
(Left or right of the current steering wheel relative to zero degree baseline), and steering wheel angle speed
Direction (steering wheel according to rotate clockwise or counterclockwise).Exist in so avoiding previous methods
, do not consider steering wheel rotation direction and rotation trend and can not be accurately careful acquisition torque compensation value
Obtain shortcoming.In the case that the inventive method can not increase hardware cost, turned according to different steering wheels
Dynamic situation is providing more accurate torque compensation value, and then avoids the not enough of torque compensation or waste
Problem, saves oil consumption.
The above is only some embodiments of the present invention, it is noted that for the art
For those of ordinary skill, under the premise without departing from the principles of the invention, some improvement can also be made
And retouching, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. a kind of power-assisted steering torque compensation method, it is characterised in that include：
Anglec of rotation A of detection steering wheel and direction of rotation D, and calculate the angle speed of direction disc spins
Degree ω and angular acceleration；
According to direction of rotation D and angular velocity omega, determine needed for electronic hydraulic power-assisted steering system EHPS
Basic torque compensation value Tq_bas；
According to the angular acceleration of steering wheel, it is determined that the modifying factor of basic torque compensation value Tq_bas
Factor；
Basic torque compensation value Tq_bas is modified according to modifying factor Factor, and obtains reality
Border torque compensation value Tq_reserve.
2. control method according to claim 1, it is characterised in that the determination electro-hydraulic
Basic torque compensation value Tq_bas needed for servo steering system EHPS, including：
When detect direction of rotation D for rotate counterclockwise steering wheel when, in sublist A1 search correspondence
The actual torque offset Tq_bas of the angular velocity omega；
When it is to turn clockwise steering wheel to detect direction of rotation D, correspondence is searched in sublist A2
The actual torque offset Tq_bas of the angular velocity omega；
Wherein,
Sublist A1 is built based on the test result to basic torque compensation for carrying out in advance
Linear interpolation table during rotate counterclockwise steering wheel, and
Sublist A2 is built based on the test result to basic torque compensation for carrying out in advance
Turn clockwise steering wheel when linear interpolation table.
3. control method according to claim 2, it is characterised in that the basic moment of torsion of the determination
Modifying factor Factor of offset Tq_bas, including：
When calculating angular accelerationDuring more than or equal to zero, search in sublist B1 to should angle accelerate
DegreeModifying factor Factor；
When calculating angular accelerationDuring less than zero, search in sublist B2 to should angular velocity omega
Modifying factor Factor；
Wherein,
Sublist B1 is based on the test being modified to basic torque compensation result for carrying out in advance
As a result the angular acceleration for buildingLinear interpolation table during more than or equal to zero, and
Sublist B1 is based on the test being modified to basic torque compensation result for carrying out in advance
As a result the angular acceleration for buildingLinear interpolation table during less than zero.
4. control method according to claim 3, it is characterised in that the acquisition actual torque
Offset Tq_reserve, including：
Basic torque compensation value Tq_bas is multiplied by into modifying factor Factor and draws actual torque offset
Tq_reserve。
5. according to the method in claim 2 or 3, it is characterised in that also include：
Calculating the angular velocity omega and angular acceleration of direction disc spinsAfterwards, angular velocity ω and angle
AccelerationIt is filtered respectively.
6. a kind of power-assisted steering torque compensation system, including：
Steering wheel, steering wheel angle sensor, engine controller, transmitter device,
Steering wheel angle sensor first end closure disk and the second end are started by In-vehicle networking connection
The first end of machine controller,
Second end linkup transmit machine device of engine controller,
Characterized in that, the engine controller also includes：
Basic torque output module, for exporting basic torque compensation value Tq_bas；
Acceleration calculation module, for calculating according to anglec of rotation A of steering wheel and direction of rotation D
The angular acceleration of direction disc spins；
Modifying factor output module, for according to angular accelerationIt is determined that basic torque compensation value Tq_bas
Modifying factor Factor；
Torque compensation multiplier, for correcting basic torque compensation value according to modifying factor Factor
Tq_bas, and export actual torque offset Tq_reserve.
7. system according to claim 6, it is characterised in that also include：
By the steering wheel angle sensor installed in electronic hydraulic power-assisted steering system EHPS, or
By the steering wheel angle sensor configured in body electronics stabilisation systemss, the anglec of rotation of steering wheel is detected
Degree A and direction of rotation D.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510571373.9A CN106515708B (en) | 2015-09-10 | 2015-09-10 | Power-assisted steering torque compensation method and system based on steering wheel angle information |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510571373.9A CN106515708B (en) | 2015-09-10 | 2015-09-10 | Power-assisted steering torque compensation method and system based on steering wheel angle information |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106515708A true CN106515708A (en) | 2017-03-22 |
| CN106515708B CN106515708B (en) | 2019-04-30 |
Family
ID=58345617
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510571373.9A Active CN106515708B (en) | 2015-09-10 | 2015-09-10 | Power-assisted steering torque compensation method and system based on steering wheel angle information |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515708B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294014A (en) * | 2019-07-25 | 2019-10-01 | 农业农村部南京农业机械化研究所 | A kind of hydraulic steering system and its working method of self-correction |
| CN111417563A (en) * | 2017-12-01 | 2020-07-14 | 蒂森克虏伯普利斯坦股份公司 | Method for controlling a steer-by-wire system with active return functionality |
| CN113581281A (en) * | 2021-08-30 | 2021-11-02 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
| CN114475776A (en) * | 2022-03-21 | 2022-05-13 | 中国第一汽车股份有限公司 | Torque compensation method and device, vehicle and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6370459B1 (en) * | 1998-07-21 | 2002-04-09 | Techco Corporation | Feedback and servo control for electric power steering systems |
| JP2004276636A (en) * | 2003-03-12 | 2004-10-07 | Koyo Seiko Co Ltd | Electric power steering device |
| US20120199411A1 (en) * | 2011-02-07 | 2012-08-09 | Unisia Jkc Steering Systems Co., Ltd. | Variable displacement pump |
| CN103010302A (en) * | 2011-09-09 | 2013-04-03 | 操纵技术Ip控股公司 | Torque-based on-center feel for electric power steering |
-
2015
- 2015-09-10 CN CN201510571373.9A patent/CN106515708B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6370459B1 (en) * | 1998-07-21 | 2002-04-09 | Techco Corporation | Feedback and servo control for electric power steering systems |
| JP2004276636A (en) * | 2003-03-12 | 2004-10-07 | Koyo Seiko Co Ltd | Electric power steering device |
| US20120199411A1 (en) * | 2011-02-07 | 2012-08-09 | Unisia Jkc Steering Systems Co., Ltd. | Variable displacement pump |
| CN103010302A (en) * | 2011-09-09 | 2013-04-03 | 操纵技术Ip控股公司 | Torque-based on-center feel for electric power steering |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111417563A (en) * | 2017-12-01 | 2020-07-14 | 蒂森克虏伯普利斯坦股份公司 | Method for controlling a steer-by-wire system with active return functionality |
| US11352054B2 (en) | 2017-12-01 | 2022-06-07 | Thyssenkrupp Presta Ag | Method for controlling a steer-by-wire steering system with an active return function |
| CN111417563B (en) * | 2017-12-01 | 2022-07-05 | 蒂森克虏伯普利斯坦股份公司 | Method for controlling a steer-by-wire system with active return |
| CN110294014A (en) * | 2019-07-25 | 2019-10-01 | 农业农村部南京农业机械化研究所 | A kind of hydraulic steering system and its working method of self-correction |
| CN113581281A (en) * | 2021-08-30 | 2021-11-02 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
| CN114475776A (en) * | 2022-03-21 | 2022-05-13 | 中国第一汽车股份有限公司 | Torque compensation method and device, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106515708B (en) | 2019-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106515708A (en) | Power-assisted steering torque compensation method and system based on rotating angle information of steering wheel | |
| US9002583B2 (en) | Method and device for the compensation of steering wheel rotary oscillations in a steering system | |
| US9522697B2 (en) | Control method for electrohydraulic power steering system | |
| CN102562384B (en) | Fuel supply apparatus | |
| US7157870B2 (en) | Drive method for brushless motor and drive control apparatus therefor | |
| KR20180007393A (en) | Apparatus for controlling steering in steer-by-wire system and method thereof | |
| US8155840B2 (en) | Steering angle sensor and vehicle system having the steering angle sensor | |
| CN106068219B (en) | Vehicle turns to angle detecting device and is equipped with the electric power-assisted steering apparatus that the vehicle turns to angle detecting device | |
| CN103010300B (en) | The control system of servo steering system and method | |
| EP2289767A2 (en) | Stability-based steering control methods and systems | |
| US7100733B2 (en) | Method to initialize steering wheel in a steer-by-wire system | |
| CN104071224A (en) | Electric power steering system of new energy vehicle and control method of electric control unit thereof | |
| CN105593105B (en) | Electric power-assisted steering apparatus | |
| CN106864589A (en) | The steering of backlash compensation is superimposed with magnetic moment of torsion | |
| CN103546084A (en) | System and method for calibrating offset of motor resolver | |
| CN104196643A (en) | Method and system for controlling idle speeds of engine | |
| CN110733562B (en) | Apparatus and method for controlling steer-by-wire system | |
| CN109204457A (en) | Determine the steering angle for motor vehicles application | |
| US20120226469A1 (en) | Wheel speed estimation using a drivetrain model | |
| CN101819080A (en) | The diagnostic system and the method that are used for torque sensor | |
| US7676308B2 (en) | Method for operating a steering system of a motor vehicle | |
| KR20160027398A (en) | Apparatus for compensating steering force in mdps system | |
| CN109955899A (en) | Torque compensation device and method for motor driven servo steering system | |
| US10411566B2 (en) | Motor temperature estimating device | |
| CN110550092A (en) | DSP high-precision motor controller based on automobile electronic power-assisted steering system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191223 Address after: 130033 No. 1981, Wuhan Road, Changchun economic and Technological Development Zone, Changchun, Jilin Patentee after: Shibeite automotive electronics (Changchun) Co., Ltd. Address before: 130033 No. 1981, Wuhan Road, Changchun economic and Technological Development Zone, Changchun, Jilin Patentee before: Continental Automotive Electronics (Changchun) Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 130033 No. 1981, Wuhan Road, Changchun economic and Technological Development Zone, Changchun, Jilin Patentee after: WeiPai automotive electronics (Changchun) Co., Ltd Address before: 130033 No. 1981, Wuhan Road, Changchun economic and Technological Development Zone, Changchun, Jilin Patentee before: Shibeite automotive electronics (Changchun) Co., Ltd. |