CN106828593B - A kind of electronic power assist steering control method and system - Google Patents
A kind of electronic power assist steering control method and system Download PDFInfo
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- CN106828593B CN106828593B CN201710112403.9A CN201710112403A CN106828593B CN 106828593 B CN106828593 B CN 106828593B CN 201710112403 A CN201710112403 A CN 201710112403A CN 106828593 B CN106828593 B CN 106828593B
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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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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of electronic power assist steering control method and systems, this method comprises: acquiring the torque information and corner information that driver applies to steering wheel by torque-corner sensor, and the moment of resistance information that transmission system is subject to is acquired by torque sensor.Since the present invention can determine the power-assisted of electronics booster output according to torque information, corner information and drag overall square, the power-assisted is the relevant value such as coefficient of friction between front axle axle load, tire and ground, when coefficient of friction between current axis axle load and/or tire and ground changes, the power-assisted that electronics booster provides can also change correspondingly, and realize the power-assisted of electronics booster output truly with the intelligent control of the synchronous variation of the full-vehicle steering moment of resistance.
Description
Technical field
The present invention relates to field of electric control, in particular to a kind of electronic power assist steering control method and system.
Background technique
Electronic power assist steering (Electric Power Steering, EPS) directly provides steering by electronics booster and helps
Power, its core are made of torque-corner sensor-based system, force aid system and 3 major part of control system.EPS eliminates liquid
Power steering oil pump necessary to pressure power steering system, hose, hydraulic oil, conveyer belt and loaded on the belt pulley on engine,
Not only energy is saved, but also protects environment, is the developing direction of automobile steering system.
EPS uses preliminary theory at present, rough power-assisted size is made by calculating, checking, then by real vehicle
More wheel test calibrations are carried out, determine final power-assisted curve.The front axle axle load of vehicle is set as a fixed value when calibration, i.e.,
FAxle loadFor definite value.Existing EPS calculating, calibration technique acquire the speed signal of vehicle, and the electronics that can be demarcated under different speeds helps
The power-assisted size of power device output: the friction coefficient μ between tire and ground increases with speed and is reduced, therefore needs when high speed
Power-assisted it is smaller.Although having demarcated power-assisted under different speeds, the prior art sets vehicle front axle axle load FAxle loadFor fixed value,
That is working as axle load FAxle loadWhen variation, the power-assisted M of electronics booster outputElectricityIt not will do it corresponding change, will lead to so following
It happens: working as FAxle loadIncrease, speed and system internal resistance torque MIt is interiorIt is constant, at this point, if the power-assisted M of electronics booster outputElectricityNo
Become, will lead to the torque M that driver experiencesHandIncrease, in the case where the variation of front axle axle load is little, driver is experienced
Torque MHandVariation is little, but EPS will be promoted and applied gradually in vehicles such as commercial vehicles at present, unlike car,
Commercial vehicle is likely to occur the case where serious overload, and the variation range of front axle axle load is larger, if commercial vehicle is using the prior art
EPS will result in the vehicle torque M that driver experiences under unloaded two operating conditions with overloadHandIt changes greatly, which can shadow
The driving habit for ringing driver, brings personal safety hidden danger to passenger.
Summary of the invention
The present invention provides a kind of electronic power assist steering control method and systems, solve prior art EPS and are applied to commercialization
Che Shi, the larger problem of the vehicle moment variations that driver experiences under unloaded two operating conditions with overload.
The present invention provides a kind of electronic power assist steering control methods, comprising:
The torque information and corner information that driver applies to steering wheel are acquired by torque-corner sensor, and is passed through
The moment of resistance information that torque sensor acquisition transmission system is subject to；
The power-assisted of electronics booster output is determined according to torque information, corner information and moment of resistance information.
Preferably, the transmission system includes:
Steering column, lower drive shaft, steering gear input shaft and the steering gear rack and diverter being sequentially connected are drawn
Bar, wherein steering column is connected with steering wheel, and steering gear rack is connected with two front-wheels respectively by two diverter pull rods.
Preferably, the torque sensor is located on steering gear input shaft；
It is described according to torque information, corner information and moment of resistance information determine electronics booster output power-assisted include:
It is determined by experiment the power-assisted of each torque, corner information and the corresponding electronics booster output of the moment of resistance in advance；
Make torque, corner information and the moment of resistance-power-assisted table of comparisons；
By looking into torque, corner information and the moment of resistance-power-assisted table of comparisons, the power-assisted of electronics booster output is determined.
Preferably, the method also includes:
While acquiring torque information, corner information and moment of resistance information, vehicle speed information is also acquired；
It is described according to torque information, corner information and moment of resistance information determine electronics booster output power-assisted include:
Electronics power-assisted is determined by looking into power-assisted curve according to torque information, corner information, vehicle speed information and moment of resistance information
The power-assisted of device output.
Preferably, the method also includes:
While acquiring torque information, corner information and moment of resistance information, engine speed information is also acquired；
It is described according to torque information, corner information and moment of resistance information determine electronics booster output power-assisted include:
Electricity is determined by looking into power-assisted curve according to torque information, corner information, engine speed information and moment of resistance information
The power-assisted of sub- booster output.
Correspondingly, the present invention also provides a kind of electronic power assist steering control systems, comprising:
Torque-corner sensor, torque sensor and the electronics booster and power train being connected respectively with controller
System；
Torque-corner sensor is located near transmission system, the torque information applied for acquiring driver to steering wheel
And corner information, and it is sent to controller；
Torque sensor is located near transmission system, for the moment of resistance information that device acquisition transmission system is subject to, and sends
To controller；
Controller is used to determine helping for electronics booster output according to torque information, corner information and drag overall square information
Power then exports control signal to the electronics booster to control electronics booster to transmission system and export power-assisted.
Preferably, the transmission system includes:
Steering column, lower drive shaft, steering gear input shaft and the steering gear rack and diverter being sequentially connected are drawn
Bar, wherein steering column is connected with steering wheel, and steering gear rack is connected with two front-wheels respectively by two diverter pull rods.
Preferably, the torque sensor is located on steering gear input shaft；
The controller is specifically used for pre-production torque, corner information and the moment of resistance-power-assisted table of comparisons, and then basis connects
Torque information, corner information and the moment of resistance information of receipts are determined by looking into torque, corner information and the moment of resistance-power-assisted table of comparisons
The power-assisted of electronics booster output.
Preferably, the system also includes:
Vehicle speed sensor is connected with the controller, for acquiring vehicle speed information, and is sent to the controller；
The controller is specifically used for being helped according to torque information, corner information, vehicle speed information and moment of resistance information by looking into
Force curve determines the power-assisted of electronics booster output.
Preferably, the system also includes:
Engine speed sensor is connected with the controller, for acquiring engine speed information, and is sent to described
Controller；
The controller is specifically used for logical according to torque information, corner information, engine speed information and moment of resistance information
It crosses and looks into the power-assisted that power-assisted curve determines the output of electronics booster.
A kind of electronic power assist steering control method and system provided by the invention, comprising: adopted by torque-corner sensor
The torque information and corner information that collection driver applies to steering wheel, and the resistance that transmission system is subject to is acquired by torque sensor
Moment information.Since the present invention can determine the output of electronics booster according to torque information, corner information and moment of resistance information
Power-assisted, which is value relevant with front axle axle load, even if the coefficient of friction between tire and ground changes, which also can be with
Change, realize that the power-assisted of electronics booster output truly is controlled with the intelligence of the synchronous variation of the full-vehicle steering moment of resistance
System.
Further, electronic power assist steering control method and system provided in an embodiment of the present invention, the torque sensor
On steering gear input shaft, the moment of resistance that transmission system is subject to can be obtained, easily accurately in this way so as to according to the moment of resistance pair
The power-assisted of electronics booster output is adjusted, convenient for promoting driver's Experience Degree.
Further, electronic power assist steering control method and system provided in an embodiment of the present invention, also further acquire
Vehicle speed information allows the present invention according to torque information, corner information, vehicle speed information and drag overall square by looking into power-assisted curve
Determine the power-assisted of electronics booster output.The power-assisted for providing the present invention, not only considers the variation of front axle axle load, together
When also contemplate the variation of coefficient of friction between tire and ground, the accuracy of the power-assisted provided can be effectively improved, effectively promoted
Driver's Experience Degree.
Further, electronic power assist steering control method and system provided in an embodiment of the present invention, acquisition torque information turn
While angle information and moment of resistance information, engine speed information is also acquired, so that the power-assisted that the present invention provides is more quasi-
Really.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is the first flow chart according to electronic power assist steering control method provided in an embodiment of the present invention；
Fig. 2 is according to a kind of torque provided in an embodiment of the present invention, corner, the moment of resistance-power-assisted curve graph；
Fig. 3 is second of flow chart according to electronic power assist steering control method provided in an embodiment of the present invention；
Fig. 4 is to compensate control curve according to speed provided in an embodiment of the present invention-power-assisted；
Fig. 5 is the third flow chart according to electronic power assist steering control method provided in an embodiment of the present invention；
Fig. 6 is the first structural schematic diagram according to electronic power assist steering control system provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic device according to electronic power assist steering control system provided in an embodiment of the present invention；
Fig. 8 is second of structural schematic diagram according to electronic power assist steering control system provided in an embodiment of the present invention；
Fig. 9 is the third structural schematic diagram according to electronic power assist steering control system provided in an embodiment of the present invention.
In Fig. 7:
1 steering wheel, 7 steering gear input shaft
2 steering column, 8 steering gear rack
3 torque-corner sensor, 9 diverter pull rod
4 controller, 10 torque sensing
5 electronics booster, 11 tire
6 lower drive shafts
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar parameter or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
A kind of electronic power assist steering control method and system provided by the invention, it is contemplated that when the weight generation of automobile is larger
Variation, i.e., when current axis axle load varies widely, handling influence to driver, so that electronics provided by the invention helps
Power rotating direction control method and system can provide a convenient riding manipulation power no matter which kind of driving cycle vehicle is in,
And it can preferably be suitable for commercial vehicle etc., improve the personal safety of passenger.
Technical solution and technical effect in order to better understand the present invention, below with reference to flow diagram to specific
Embodiment is described in detail.As shown in Figure 1, for according to electronic power assist steering control method provided in an embodiment of the present invention
The first flow chart, this method may comprise steps of:
Step S01 acquires the torque information and corner letter that driver applies to steering wheel by torque-corner sensor
Breath, and the moment of resistance information that transmission system is subject to is acquired by torque sensor.
In the present embodiment, the torque information and corner for the axis being connected by the acquisition of torque-corner sensor with steering wheel
Information obtains the torque information and corner information that driver applies to steering wheel.Wherein, which can be
There is different classifications method in EPS, independent packing sensor and power-assisted steering integrated transducer can be divided into according to mounting means；
Installation internal structure can be divided into touch sensor and noncontacting proximity sensor, and difference is that touch sensor is working
Sensing unit in the process there are mechanical friction, it is contactless include magnetic coupling, be electrically coupled, the forms such as optical coupling, do not do herein
It limits.
The moment of resistance information that torque sensor acquisition transmission system is subject to, the moment of resistance information can reflect the control of vehicle direction
The size for the resistance that the transmission system of system is subject to can thus make the present invention be subject to according to the transmission system of direction controlling
The size of resistance come adjust electronics booster output power-assisted size.
In a specific embodiment, the transmission system includes: the steering column being sequentially connected, lower drive shaft, turns
To device input shaft and steering gear rack and diverter pull rod, wherein steering column is connected with steering wheel, and steering gear rack is logical
Two diverter pull rods are crossed to be connected with two front-wheels respectively.The torque sensor is located on steering gear input shaft；The basis
Torque information, corner information and moment of resistance information determine that the power-assisted of electronics booster output includes: to be determined by experiment in advance respectively
The power-assisted of torque, corner information and the corresponding electronics booster output of the moment of resistance；Production torque, corner information and the moment of resistance-help
The power table of comparisons；By looking into torque, corner information and the moment of resistance-power-assisted table of comparisons, the power-assisted of electronics booster output is determined.
In the present embodiment, the principle that electric powered steering calculates are as follows: MResistance=MHand+MElectricity, MResistanceThe resistance being subject to for full-vehicle steering system
Torque, MHandJust steering wheel hand-power moment values are determined to design, and intuitively show as steering wheel hand-power suffered by driver, the moment loading
In steering wheel.MElectricityFor the assist torque that motor provides, the torque is related to the moment of resistance.Due to MResistanceRubbing between tire and ground
It wipes coefficient and vehicle weight is related, when coefficient of friction or vehicle weight change, MResistanceIt will change, if not to MElectricity
Being adjusted just will appear driver and feels that the maneuvering performance of steering wheel changes.Therefore, the present invention is by using torque
Sensor acquires moment of resistance information, is simple and efficient, this makes the present invention can be according to the M of acquisitionResistanceTo MElectricityCarry out real-time change
Control, to solve MResistanceCan change causes driver to feel the problem of maneuvering performance of steering wheel changes.
Step S02 determines the power-assisted of electronics booster output according to torque information, corner information and moment of resistance information.
In the present embodiment, electronics booster can be controlled by electronic control unit.
In a specific embodiment, when driver operates steering wheel, the torque-corner being connected on steering column is passed
Sensor acquires torque information and corner information, and electronic control unit is carried out according to torque information, corner information and moment of resistance information
The power-assisted size of output current signal control electronics booster after comprehensive analysis, judgement and operation.Electronics booster is in driver
Power torque is generated on structure, which is applied on steering column, so that associated components be driven to complete steering operation.Specifically
Ground can calibrate torque, corner, the moment of resistance-power-assisted curve graph in advance by experiment, then obtain electronics power-assisted by looking into figure
Control electric current needed for device.As shown in Fig. 2, for according to a kind of torque provided in an embodiment of the present invention, corner, the moment of resistance-power-assisted
Curve graph.
Electronic power assist steering control method provided by the invention, comprising: by torque-corner sensor acquire driver to
The torque information and corner information that steering wheel applies, and the moment of resistance information that transmission system is subject to is acquired by torque sensor.
Since the present invention can determine the power-assisted of electronics booster output according to torque information, corner information and moment of resistance information, this is helped
Power is value relevant with front axle axle load, coefficient of friction, i.e., when the coefficient of friction between vehicle weight, tire and ground changes
When, which can also change correspondingly, and realize that the power-assisted of electronics booster output truly is same with the full-vehicle steering moment of resistance
Walk the intelligent control of variation.
As shown in figure 3, be second of flow chart according to electronic power assist steering control method provided in an embodiment of the present invention,
This method may comprise steps of:
Step S21 while acquiring torque information, corner information and moment of resistance information, also acquires vehicle speed information.
In the present embodiment, it is contemplated that speed power-assisted required when changing can also change simultaneously, therefore, calculate electricity
Also it is further contemplated that the influence of speed when the power-assisted of sub- booster output, further to promote driver's Experience Degree.For example,
Vehicle speed information can be acquired by vehicle speed sensor, the table of comparisons is then compensated by the speed-power-assisted demarcated in advance or speed-helps
Force compensating control curve obtains power-assisted offset.
It should be noted that described determine that electronics booster exports according to torque information, corner information and moment of resistance information
Power-assisted include: to determine that electronics helps by looking into power-assisted curve according to torque information, corner information, vehicle speed information and moment of resistance information
The power-assisted of power device output.
In a specific embodiment, as shown in figure 4, for according to speed provided in an embodiment of the present invention-power-assisted compensation pair
According to curve, as we can see from the figure with the increase of speed, the power-assisted for needing to compensate is smaller.Certainly, in the prior art according to vehicle
Speed is all suitable for the mode that power-assisted compensates, it is not limited here.
Electronic power assist steering control method and system provided in an embodiment of the present invention, also further acquire vehicle speed information,
The present invention is allowed to determine electricity by looking into power-assisted curve according to torque information, corner information, vehicle speed information and moment of resistance information
The power-assisted of sub- booster output.The power-assisted for providing the present invention, not only considers the variation of front axle axle load, while also examining
The variation of coefficient of friction between tire and ground is considered, the accuracy of the power-assisted provided can be effectively improved, effectively promotion driver
Experience Degree.
As shown in figure 5, be the third flow chart according to electronic power assist steering control method provided in an embodiment of the present invention,
This method may comprise steps of:
Step S41 while acquiring torque information, corner information and moment of resistance information, also acquires engine speed information.
In the present embodiment, described to determine that electronics booster exports according to torque information, corner information and moment of resistance information
Power-assisted include: according to torque information, corner information, engine speed information and moment of resistance information by look into power-assisted curve determine
The power-assisted of electronics booster output.
Electronic power assist steering control method and system provided in an embodiment of the present invention, acquisition torque information, corner information and
While moment of resistance information, engine speed information is also acquired, so that the power-assisted that the present invention provides is more accurate.
Correspondingly, the present invention also provides electronic power assist steering control systems corresponding with the above method, as shown in fig. 6,
For according to the first structural schematic diagram of electronic power assist steering control system provided in an embodiment of the present invention, which be can wrap
It includes:
Torque-corner sensor, torque sensor and the electronics booster and power train being connected respectively with controller
System.
Torque-corner sensor is located near transmission system, the torque information applied for acquiring driver to steering wheel
And corner information, and it is sent to controller.
Torque sensor is located near transmission system, for the moment of resistance information that device acquisition transmission system is subject to, and sends
To controller.
Controller is used to determine the power-assisted of electronics booster output according to torque information, corner information and moment of resistance information,
Then control signal is exported to the electronics booster, exports power-assisted to control electronics booster to transmission system.
In the present embodiment, the transmission system may include: the steering column, lower drive shaft, steering being sequentially connected
Device input shaft and steering gear rack and diverter pull rod, wherein steering column is connected with steering wheel, and steering gear rack passes through
Two diverter pull rods are connected with two front-wheels respectively.
In a specific embodiment, as shown in fig. 7, to be controlled according to electronic power assist steering provided in an embodiment of the present invention
A kind of schematic device of system.Wherein, 1 is steering wheel, and 2 be steering column, and 3 be torque-corner sensor, and 4 be controller,
5 be electronics booster, and 6 be lower drive shaft, and 7 be steering gear input shaft, and 8 be steering gear rack, and 9 be diverter pull rod, and 10 be torsion
Square sensor, 11 be tire.The torque sensor 10 is located on steering gear input shaft 7, and the torque information of acquisition is sent to
Controller 4；The controller 4 is specifically used for pre-production torque, corner information and the moment of resistance-power-assisted table of comparisons, then basis
Received torque information, corner information and moment of resistance information, by looking into torque, corner information and the moment of resistance-power-assisted table of comparisons, really
Determine the power-assisted of the output of electronics booster 5.It can be seen from the figure that moment of resistance information can be acquired by torque sensor 10, control
Device 4 processed exports control signal to electronics booster 5 according to torque information, corner information and moment of resistance information, is helped with controlling electronics
Power device 5 exports suitable power-assisted.
As shown in figure 8, to be shown according to second of structure of electronic power assist steering control system provided in an embodiment of the present invention
It is intended to, which can also include: vehicle speed sensor, be connected with the controller, for acquiring vehicle speed information, and be sent to institute
State controller；The controller is specifically used for being helped according to torque information, corner information, vehicle speed information and moment of resistance information by looking into
Force curve determines the power-assisted of electronics booster output.The power-assisted for providing the present invention, not only considers front axle axle load
Variation, while the variation of coefficient of friction between tire and ground is also contemplated, the accuracy of the power-assisted provided can be effectively improved, is had
Effect promotes driver's Experience Degree.
As shown in figure 9, to be shown according to the third structure of electronic power assist steering control system provided in an embodiment of the present invention
It is intended to, which can also include: engine speed sensor, be connected with the controller, for acquiring engine speed letter
Breath, and it is sent to the controller；The controller is specifically used for according to torque information, corner information, engine speed information
The power-assisted of electronics booster output is determined by looking into power-assisted curve with moment of resistance information.The power-assisted for providing the present invention is more
It is accurate to add.
Electronic power assist steering control system provided by the invention, including the torque-corner sensing being connected respectively with controller
Device, torque sensor and electronics booster and transmission system.Since the present invention acquires moment of resistance information, so that of the invention
The power-assisted of electronics booster output, the power-assisted can be determined according to torque information, corner information and moment of resistance information is and front axle
The relevant value of coefficient of friction between axle load, tire and ground, even if the coefficient of friction between front axle axle load, tire and ground changes
Become, which can also change correspondingly, and realize that the power-assisted of electronics booster output truly is same with the full-vehicle steering moment of resistance
Walk the intelligent control of variation.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other.For system embodiment, since it is substantially similar to the method embodiment, so describing
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.System embodiment described above is only to show
Meaning property, wherein the unit as illustrated by the separation member may or may not be physically separated, as list
The component of member display may or may not be physical unit, it can and it is in one place, or may be distributed over
On multiple artificial windows.Some or all of the modules therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.Those of ordinary skill in the art can understand and implement without creative efforts.
The embodiment of the present invention has been described in detail above, and specific embodiment used herein carries out the present invention
It illustrates, method and system of the invention that the above embodiments are only used to help understand；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of electronic power assist steering control method characterized by comprising
Be determined by experiment the power-assisted of each torque, corner and the moment of resistance corresponding electronics booster output in advance, and be arranged torque,
Corner and the moment of resistance-power-assisted table of comparisons；
The torque information and corner information that driver applies to steering wheel are acquired by torque-corner sensor, and passes through torque
The moment of resistance information that sensor acquisition transmission system is subject to；
Acquire vehicle speed information, and the speed by demarcating in advance-power-assisted compensation table of comparisons or speed-power-assisted compensation control curve come
Obtain power-assisted offset；
The power-assisted of electronics booster output is determined according to torque information, corner information, vehicle speed information and moment of resistance information.
2. the method according to claim 1, wherein the transmission system includes:
Steering column, lower drive shaft, steering gear input shaft and the steering gear rack and diverter pull rod being sequentially connected,
In, steering column is connected with steering wheel, and steering gear rack is connected with two front-wheels respectively by two diverter pull rods.
3. according to the method described in claim 2, it is characterized in that, the torque sensor is located on steering gear input shaft；
It is described according to torque information, corner information and moment of resistance information determine electronics booster output power-assisted include:
It is determined by experiment the power-assisted of each torque, corner information and the corresponding electronics booster output of the moment of resistance in advance；
Make torque, corner information and the moment of resistance-power-assisted table of comparisons；
By looking into torque, corner information and the moment of resistance-power-assisted table of comparisons, the power-assisted of electronics booster output is determined.
4. the method according to claim 1, wherein it is described according to torque information, corner information, vehicle speed information and
Moment of resistance information determines that the power-assisted of electronics booster output includes:
Determine that electronics booster is defeated by looking into power-assisted curve according to torque information, corner information, vehicle speed information and moment of resistance information
Power-assisted out.
5. the method according to claim 1, wherein the method also includes:
While acquiring torque information, corner information and moment of resistance information, engine speed information is also acquired；
The power-assisted packet that the output of electronics booster is determined according to torque information, corner information, vehicle speed information and moment of resistance information
It includes:
Determine that electronics helps by looking into power-assisted curve according to torque information, corner information, engine speed information and moment of resistance information
The power-assisted of power device output.
6. a kind of electronic power assist steering control system characterized by comprising
Torque-corner sensor, torque sensor and the electronics booster and transmission system being connected respectively with controller；
Torque-corner sensor is located near transmission system, for acquiring the torque information and turn that driver applies to steering wheel
Angle information, and it is sent to controller；
Torque sensor is located near transmission system, for the moment of resistance information that device acquisition transmission system is subject to, and is sent to control
Device processed；
Controller is used to be determined by experiment the power-assisted of each torque, corner and the corresponding electronics booster output of the moment of resistance in advance,
And torque, corner and the moment of resistance-power-assisted table of comparisons are set；It is also used to according to torque information, corner information and drag overall square information
It determines the power-assisted of electronics booster output, then exports control signal to the electronics booster to control electronics booster to biography
Dynamic system exports power-assisted.
7. system according to claim 6, which is characterized in that the transmission system includes:
Steering column, lower drive shaft, steering gear input shaft and the steering gear rack and diverter pull rod being sequentially connected,
In, steering column is connected with steering wheel, and steering gear rack is connected with two front-wheels respectively by two diverter pull rods.
8. system according to claim 7, which is characterized in that the torque sensor is located on steering gear input shaft；
The controller is specifically used for pre-production torque, corner information and the moment of resistance-power-assisted table of comparisons, then based on the received
Torque information, corner information and moment of resistance information determine electronics by looking into torque, corner information and the moment of resistance-power-assisted table of comparisons
The power-assisted of booster output.
9. system according to claim 6, which is characterized in that the system also includes:
Vehicle speed sensor is connected with the controller, for acquiring vehicle speed information, and is sent to the controller；
The controller is specifically used for according to torque information, corner information, vehicle speed information and moment of resistance information by looking into power-assisted song
Line determines the power-assisted of electronics booster output.
10. system according to claim 6, which is characterized in that the system also includes:
Engine speed sensor is connected with the controller, for acquiring engine speed information, and is sent to the control
Device；
The controller is specifically used for according to torque information, corner information, engine speed information and moment of resistance information by looking into
Power-assisted curve determines the power-assisted of electronics booster output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710112403.9A CN106828593B (en) | 2017-02-28 | 2017-02-28 | A kind of electronic power assist steering control method and system |
Applications Claiming Priority (1)
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| CN201710112403.9A CN106828593B (en) | 2017-02-28 | 2017-02-28 | A kind of electronic power assist steering control method and system |
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| CN108216356B (en) * | 2018-01-13 | 2019-06-07 | 厦门嘉裕德汽车电子科技有限公司 | A kind of processing method of the contact torque sensor signal of EPS controller |
| CN111137352B (en) * | 2018-11-02 | 2021-09-17 | 北汽福田汽车股份有限公司 | Steering force control method and device and vehicle |
| CN111090237A (en) * | 2019-11-08 | 2020-05-01 | 华南理工大学 | Robust feedforward controller and high-frequency gain compensator optimization method |
| CN111376973B (en) * | 2020-03-30 | 2021-08-24 | 北京经纬恒润科技股份有限公司 | Electric power steering control method, device and system |
| CN113548110B (en) * | 2021-07-19 | 2022-03-25 | 东风汽车集团股份有限公司 | Continuously adjustable power-assisted steering method, system and computer equipment |
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| CN102114867B (en) * | 2009-12-30 | 2016-05-18 | 上海汽车集团股份有限公司 | Electric boosting steering system and electronic and/or electric hydraulic steering thereof |
| JP6032257B2 (en) * | 2014-10-09 | 2016-11-24 | 日本精工株式会社 | Control method for electric power steering apparatus, electric power steering apparatus and vehicle equipped with the same |
| US9598101B2 (en) * | 2014-10-21 | 2017-03-21 | Toyota Jidosha Kabushiki Kaisha | Steering assist apparatus for vehicle |
| CN105128929A (en) * | 2015-09-21 | 2015-12-09 | 北京理工大学 | Intelligent drive-by-wire electro-hydraulic steering system |
| DE102017112968B4 (en) * | 2016-06-14 | 2023-10-12 | Steering Solutions Ip Holding Corporation | Method and system for controlling an electric power steering system and power steering system |
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