CN106915381A - Electric boosting steering system hard-over self-learning method - Google Patents
Electric boosting steering system hard-over self-learning method Download PDFInfo
- Publication number
- CN106915381A CN106915381A CN201511002802.7A CN201511002802A CN106915381A CN 106915381 A CN106915381 A CN 106915381A CN 201511002802 A CN201511002802 A CN 201511002802A CN 106915381 A CN106915381 A CN 106915381A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- value
- limit
- angle value
- record
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a kind of electric boosting steering system hard-over self-learning method, including：When steering wheel left/right gyration exceedes the left/right ultimate angle value that acquiescence is demarcated, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, updated value is demarcated to record steering wheel angle value as left/right ultimate angle；When speed is more than threshold speed, steering wheel left/right changes hands disk torque more than torque threshold, and duration over-time threshold value, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, updated value is demarcated as left/right ultimate angle using the steering wheel angle value of record；The method of the present invention can re-scale electric boosting steering system hard-over, so as to improve the precision of tooth bar end protection act, realize the real-time self study of electric boosting steering system hard-over.
Description
Technical field
The present invention relates to vehicle electric field, more particularly to a kind of electric boosting steering system hard-over self study side
Method.
Background technology
Existing automobile electric booster steering system as shown in figure 1, be including the steering wheel 1 by traditional mechanical steering system,
Steering column 3, jackshaft 5, steering gear 6, little gear 10, track rod 7, knuckle arm 9, deflecting roller 8,
Install rotary angle transmitter 2, torque sensor 11, electronic control unit 13, steering assist motor 12 and its reducing gear additional
4 grades are constituted.Wherein, torque sensor is used to detect pilot control torque；Assist motor can be arranged on steering column or
In steering gear, assist torque is provided to driver by reducing gear；Torque sensor signal, steering wheel angle sensor
The Torque Control of signal and the rack displacement rate signal that calculates and vehicle speed sensor signal input to electronic control unit
Module, calculates corresponding assist torque, is exported to motor control module, controller output electricity as target torque command
Stream drives assist motor work.
As shown in Fig. 2 existing automobile electric booster steering system hard-over is demarcated to be judged by rack-and-pinion stroke.
During offline test (EOL), the determination at limit on the left angle is by the steering wheel that turns left, by the maximum angular scale of left steering
It is set to limit on the left angle；The determination at limit on the right-right-hand limit angle is, by the steering wheel that turns right, the maximum angle of right turn to be demarcated as into the right side
Limiting angle.In existing hard-over scaling method one, need to re-scale for different rack-and-pinion.Meanwhile, when
Steering structure safeguard when changing parts, because of the difference of itself between part, it is also desirable to the maximum demarcated is turned again
Angle is finely adjusted.
Prior art typically takes the demarcation of steering hard-over two ways 1. by the way of artificial demarcation.Using
This method, the first manpower high cost；Secondary need is demarcated by certain flow, and production process is cumbersome；3rd
Changing the associated components such as rack-and-pinion, it is also desirable to re-scale, maintenance cost is accused；It is existing for existing automobile electricity in addition
Dynamic required precision of the servo steering system hard-over scaling method to parts is higher, easily causes nominal data ductility
Not enough.
The content of the invention
The technical problem to be solved in the present invention is to provide one kind and can in real time carry out electric boosting steering system hard-over self-study
The method of habit.
In order to solve the above technical problems, the electric boosting steering system hard-over self-learning method that the present invention is provided, including：
When steering wheel left-hand rotation angle exceedes the limit on the left corner value that acquiescence is demarcated, record steering wheel angle value this moment, the side of working as
To disk return just arrive steering wheel update position thresholding within when, using record steering wheel angle value as limit on the left corner demarcate renewal
Value；Steering wheel updates position thresholding：When steering wheel returns to the position, the ultimate angle value of steering wheel or so is updated；
When steering wheel right-hand rotation angle exceedes the limit on the right-right-hand limit corner value that acquiescence is demarcated, record steering wheel angle value this moment, the side of working as
To disk return just arrive steering wheel update position thresholding within when, using record steering wheel angle value as limit on the right-right-hand limit corner demarcate renewal
Value；
When speed is more than threshold speed, steering wheel left-hand rotation setting stick torque is more than torque threshold, and duration over-time threshold
Value, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, with what is recorded
Steering wheel angle value demarcates updated value as limit on the left corner；
When speed is more than threshold speed, steering wheel right-hand rotation setting stick torque is more than torque threshold, and duration over-time threshold
Value, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, with what is recorded
Steering wheel angle value demarcates updated value as limit on the right-right-hand limit corner.
Wherein, threshold speed is 1kmph~3kmph, and torque threshold is 3Nm~6Nm, and time threshold is 2 seconds~5 seconds, side
Position gate is updated to disk be limited to 360 degree~420 degree.
Wherein, preferred scheme：Threshold speed is 3kmph, and torque threshold is 6Nm, and time threshold is 5 seconds, steering wheel
Update position gate and be limited to 400 degree.
Electric boosting steering system hard-over self-learning method of the invention learns to demarcate automatically to Derivative limit on the left or on the right corner, it
" hard-over for having learnt " is less than including " newly-generated hard-over " be named as " to small " study and " new
The hard-over of generation " is more than " hard-over for having learnt " and is named as two parts of " to big " study.When
Actual steering operation is when meeting hard-over self study condition, records current steering angle as Derivative limit on the left or on the right corner, when
Steering wheel return got within the threshold values angle (preventing the repetitive learning within a steering cycle) of definition, just will be recorded before
Angle is stored in memory space, used as the nominal data of hard-over.When rack-and-pinion has differences, and demarcate before
Data can not reflect this species diversity, and ultimate angle can be re-scaled by the method for the present invention, so as to improve tooth bar end
The precision of protection act is held, the real-time self study of electric boosting steering system hard-over is realized.
Brief description of the drawings
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings：
Fig. 1 is automobile electric booster steering system structural representation.
Fig. 2 is diverter structure schematic diagram.
Fig. 3 is the present invention " to big " corner self study logical schematic, and the elongated corner of its display steering gear rack is learnt by oneself
Practise.
Fig. 4 is " to small " corner self study logical schematic of the invention, and the corner that its display steering gear rack shortens is learnt by oneself
Practise.
Fig. 5 is algorithm logic schematic diagram of the invention.
Specific embodiment
As shown in figure 5, the electric boosting steering system hard-over self-learning method that the present invention is provided, including：
" to big " (tooth bar is elongated) study left-hand rotation angle extreme value, the limit on the left that steering wheel left-hand rotation angle exceedes acquiescence demarcation turns
During angle value, record steering wheel angle value this moment updates position thresholding when steering wheel return just arrives steering wheel
When within RESPositon_Thre, updated value is demarcated as limit on the left corner to record steering wheel angle value；
RESP_Angle is former steering hard-over
" to big " (tooth bar is elongated) study right turn angle extreme value, the limit on the right-right-hand limit that steering wheel right-hand rotation angle exceedes acquiescence demarcation turns
During angle value, record steering wheel angle value this moment updates position thresholding when steering wheel return just arrives steering wheel
When within RESPositon_Thre, updated value is demarcated as limit on the right-right-hand limit corner to record steering wheel angle value；
" to small " (tooth bar shortens) study left-hand rotation angle extreme value, when speed is more than threshold speed VS_Thre, steering wheel turns left
Setting stick torque is more than torque threshold ST_MaxLimit, and duration over-time threshold value ST_TimeLimit, records this
The steering wheel angle value at quarter, when steering wheel return just arrives steering wheel to be updated within position thresholding RESPositon_Thre, with
The steering wheel angle value of record demarcates updated value as limit on the left corner；
" to small " (tooth bar shortens) learns right turn angle extreme value, and when speed is more than threshold speed VS_Thre, steering wheel is turned right
Setting stick torque is more than torque threshold ST_MaxLimit, and duration over-time threshold value ST_TimeLimit, records this
The steering wheel angle value at quarter, when steering wheel return just arrives steering wheel to be updated within position thresholding RESPositon_Thre, with
The steering wheel angle value of record demarcates updated value as limit on the right-right-hand limit corner.
Wherein, threshold speed is 1kmph~3kmph (preferably 3kmph), and torque threshold is 3Nm~6Nm (preferably 6Nm),
Time threshold is 2 seconds~5 seconds (preferably 5 seconds), and steering wheel updates position gate and is limited to 360 degree~420 degree (preferably 400
Degree).
The present invention has been described in detail above by specific embodiment and embodiment, but these are not constituted to this
The limitation of invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change
Enter, these also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of electric boosting steering system hard-over self-learning method, it is characterized in that, including：
When steering wheel left-hand rotation angle exceedes the limit on the left corner value that acquiescence is demarcated, record steering wheel angle value this moment, the side of working as
To disk return just arrive steering wheel update position thresholding within when, using record steering wheel angle value as limit on the left corner demarcate renewal
Value；Steering wheel updates position thresholding：When steering wheel returns to the position, the ultimate angle value of steering wheel or so is updated；
When steering wheel right-hand rotation angle exceedes the limit on the right-right-hand limit corner value that acquiescence is demarcated, record steering wheel angle value this moment, the side of working as
To disk return just arrive steering wheel update position thresholding within when, using record steering wheel angle value as limit on the right-right-hand limit corner demarcate renewal
Value；
When speed is more than threshold speed, steering wheel left-hand rotation setting stick torque is more than torque threshold, and duration over-time threshold
Value, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, with what is recorded
Steering wheel angle value demarcates updated value as limit on the left corner；
When speed is more than threshold speed, steering wheel right-hand rotation setting stick torque is more than torque threshold, and duration over-time threshold
Value, record steering wheel angle value this moment, when steering wheel return just arrives steering wheel to be updated within the thresholding of position, with what is recorded
Steering wheel angle value demarcates updated value as limit on the right-right-hand limit corner.
2. such as electric boosting steering system hard-over self-learning method described in claim 1, it is characterized in that：Speed
Threshold value is 1kmph~3kmph, and torque threshold is 3Nm~6Nm, and time threshold is 2 seconds~5 seconds, and steering wheel updates position gate
It is limited to 360 degree~420 degree.
3. such as electric boosting steering system hard-over self-learning method described in claim 2, it is characterized in that：Speed
Threshold value is 3kmph, and torque threshold is 6Nm, and time threshold is 5 seconds, and steering wheel updates position gate and is limited to 400 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511002802.7A CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511002802.7A CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106915381A true CN106915381A (en) | 2017-07-04 |
| CN106915381B CN106915381B (en) | 2019-05-21 |
Family
ID=59455808
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511002802.7A Active CN106915381B (en) | 2015-12-28 | 2015-12-28 | Electric boosting steering system hard-over self-learning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106915381B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426722A (en) * | 2018-01-23 | 2018-08-21 | 北京清博华创测控技术有限公司 | A kind of hydraulic pressure automatic steering system scaling method |
| CN110550097A (en) * | 2019-09-07 | 2019-12-10 | 新乡艾迪威汽车科技有限公司 | rack stroke self-learning method and rack tail end protection method |
| CN111098915A (en) * | 2018-10-26 | 2020-05-05 | 上汽通用汽车有限公司 | Steering mechanism stroke limit protection control method, computer readable storage medium and steering mechanism stroke limit protection control system |
| CN111688801A (en) * | 2020-06-30 | 2020-09-22 | 安徽江淮汽车集团股份有限公司 | Steering wheel zero position self-calibration control method, device, storage medium and device |
| CN111923998A (en) * | 2020-08-13 | 2020-11-13 | 中国第一汽车股份有限公司 | Steering wheel angle control method, device, equipment and storage medium |
| CN112046601A (en) * | 2020-07-29 | 2020-12-08 | 东风汽车集团有限公司 | Method for calibrating limit position of steering angle, steering controller and automobile |
| CN112356915A (en) * | 2020-11-12 | 2021-02-12 | 东风汽车集团有限公司 | Method, system and storage medium for learning extreme angular position of steering wheel |
| CN112407036A (en) * | 2020-11-18 | 2021-02-26 | 东风汽车集团有限公司 | Electric power steering control method, device, equipment and storage medium |
| CN112648062A (en) * | 2019-10-10 | 2021-04-13 | 广州汽车集团股份有限公司 | Self-learning method of temperature control module for automobile |
| CN113335375A (en) * | 2021-06-23 | 2021-09-03 | 陕西万方汽车零部件有限公司 | Self-learning method for neutral position in driving of commercial vehicle |
| CN114212146A (en) * | 2021-12-23 | 2022-03-22 | 上海易咖智车科技有限公司 | Method and device for acquiring corner midpoint of automatic driving vehicle |
| CN115107867A (en) * | 2021-03-22 | 2022-09-27 | 操纵技术Ip控股公司 | Functional limitation of torque requests based on neural network calculations |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63110071A (en) * | 1986-10-29 | 1988-05-14 | Hitachi Ltd | Electromotive power steering controlling device |
| EP1184258A2 (en) * | 2000-08-30 | 2002-03-06 | Mitsubishi Denki Kabushiki Kaisha | Electric power steering control system and method for controlling the electric power steering control system |
| JP2010260464A (en) * | 2009-05-08 | 2010-11-18 | Honda Motor Co Ltd | Steering angle middle point learning method, and steering angle reaction force control method |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
-
2015
- 2015-12-28 CN CN201511002802.7A patent/CN106915381B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63110071A (en) * | 1986-10-29 | 1988-05-14 | Hitachi Ltd | Electromotive power steering controlling device |
| EP1184258A2 (en) * | 2000-08-30 | 2002-03-06 | Mitsubishi Denki Kabushiki Kaisha | Electric power steering control system and method for controlling the electric power steering control system |
| JP2010260464A (en) * | 2009-05-08 | 2010-11-18 | Honda Motor Co Ltd | Steering angle middle point learning method, and steering angle reaction force control method |
| CN103863385A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Rack end protection method of electric power steering system |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108426722A (en) * | 2018-01-23 | 2018-08-21 | 北京清博华创测控技术有限公司 | A kind of hydraulic pressure automatic steering system scaling method |
| CN111098915A (en) * | 2018-10-26 | 2020-05-05 | 上汽通用汽车有限公司 | Steering mechanism stroke limit protection control method, computer readable storage medium and steering mechanism stroke limit protection control system |
| CN110550097A (en) * | 2019-09-07 | 2019-12-10 | 新乡艾迪威汽车科技有限公司 | rack stroke self-learning method and rack tail end protection method |
| CN112648062B (en) * | 2019-10-10 | 2021-09-14 | 广州汽车集团股份有限公司 | Self-learning method of temperature control module for automobile |
| CN112648062A (en) * | 2019-10-10 | 2021-04-13 | 广州汽车集团股份有限公司 | Self-learning method of temperature control module for automobile |
| CN111688801A (en) * | 2020-06-30 | 2020-09-22 | 安徽江淮汽车集团股份有限公司 | Steering wheel zero position self-calibration control method, device, storage medium and device |
| CN111688801B (en) * | 2020-06-30 | 2021-11-19 | 安徽江淮汽车集团股份有限公司 | Steering wheel zero position self-calibration control method, device, storage medium and device |
| CN112046601A (en) * | 2020-07-29 | 2020-12-08 | 东风汽车集团有限公司 | Method for calibrating limit position of steering angle, steering controller and automobile |
| CN112046601B (en) * | 2020-07-29 | 2022-03-11 | 东风汽车集团有限公司 | Method for calibrating limit position of steering angle, steering controller and automobile |
| CN111923998A (en) * | 2020-08-13 | 2020-11-13 | 中国第一汽车股份有限公司 | Steering wheel angle control method, device, equipment and storage medium |
| CN112356915B (en) * | 2020-11-12 | 2022-02-01 | 东风汽车集团有限公司 | Method, system and storage medium for learning extreme angular position of steering wheel |
| CN112356915A (en) * | 2020-11-12 | 2021-02-12 | 东风汽车集团有限公司 | Method, system and storage medium for learning extreme angular position of steering wheel |
| CN112407036A (en) * | 2020-11-18 | 2021-02-26 | 东风汽车集团有限公司 | Electric power steering control method, device, equipment and storage medium |
| CN115107867A (en) * | 2021-03-22 | 2022-09-27 | 操纵技术Ip控股公司 | Functional limitation of torque requests based on neural network calculations |
| CN113335375A (en) * | 2021-06-23 | 2021-09-03 | 陕西万方汽车零部件有限公司 | Self-learning method for neutral position in driving of commercial vehicle |
| CN114212146A (en) * | 2021-12-23 | 2022-03-22 | 上海易咖智车科技有限公司 | Method and device for acquiring corner midpoint of automatic driving vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106915381B (en) | 2019-05-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106915381A (en) | Electric boosting steering system hard-over self-learning method | |
| CN103249632B (en) | The steering control device of vehicle | |
| CN111094106B (en) | Synchronization of actuators in steer-by-wire systems | |
| CN108340966A (en) | Position self-learning method in electric boosting steering system and its steering wheel angle | |
| US8135516B2 (en) | Steering control apparatus for vehicle and steering control method | |
| US20180297631A1 (en) | Electric power steering device | |
| KR101646391B1 (en) | Control method for electro hydraulic power steering system | |
| DE102005053902B4 (en) | Method for determining the steering angle set with the steering spindle of a two-lane motor vehicle | |
| JP2019104476A (en) | Steering control device | |
| CN106741178A (en) | A kind of steering wheel middle position self-adaptation control method of electric boosting steering system | |
| JP2016088436A (en) | Motor control device | |
| CN103935395B (en) | A kind of method of adaptive friction compensation of electric boosting steering system and electric boosting steering system | |
| CN107450462B (en) | Closing final alignment control method for herringbone gate | |
| CN104071212A (en) | Electric power steering apparatus | |
| US10655377B2 (en) | Method and system for detecting an obstruction of a passenger door | |
| CN104959983B (en) | Robot handheld demonstration method | |
| WO2009001487A1 (en) | Analog angle sensor accuracy adjustment program, adjustment method, recording medium, and servo driver | |
| CN105108751B (en) | The Rotable Control System and its control method of a kind of articulated robot | |
| US10562568B2 (en) | Vehicle control device | |
| JP2008221916A (en) | Drive control device and steering control device using the same | |
| CN107226130A (en) | Electric boosting steering system and its diversion experiments simulation system | |
| CN104582210A (en) | Fault detection method for position sensor and stepping motor of DBL (dynamic bending light) | |
| US8489280B2 (en) | System and method for determining an absolute rotational position of a vehicle handwheel | |
| CN207987876U (en) | A kind of unmanned longitudinally controlled device of roller applied to construction of hydro project | |
| JP4442215B2 (en) | Steering device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |