CN107054448B - A kind of steering system friction compensation method based on torque signals - Google Patents
A kind of steering system friction compensation method based on torque signals Download PDFInfo
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- CN107054448B CN107054448B CN201611233006.9A CN201611233006A CN107054448B CN 107054448 B CN107054448 B CN 107054448B CN 201611233006 A CN201611233006 A CN 201611233006A CN 107054448 B CN107054448 B CN 107054448B
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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
- B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Abstract
The steering system friction compensation method based on torque signals that the invention discloses a kind of, comprising the following specific steps a, static friction compensation electric current calculate；B, sliding friction force compensating galvanometer is calculated；C, actual current calculates.Through the above way, steering system friction compensation method based on torque signals of the invention, it is practical, it is widely used, in the just insufficient situation of steering wheel return, similar rebound can be generated and feel that driver can be comfortable on, easily, in entire algorithm, algorithm is compensated only with the measured value of torque sensor and speed, it is unreliable that signal source will not be led to the problem of, therefore high reliablity, in algorithm mainly based on tabling look-up, there is no too many complex calculation, the too many resource of MCU will not be occupied, low to platform dependence, program portable is convenient.
Description
Technical field
The present invention relates to electric boosting steering system friciton compensation control fields, for no rotary angle transmitter or directionless disk
The steering system of median signal provides a kind of optimization method of friciton compensation.
Background technique
Electric boosting steering system (Electric Power Steering, abridge EPS) is driver in steer direction disk
In steering procedure, according to the power-assisted strategy being pre-designed, controls motor and export target torque, realize the original place work in steering procedure
The system stability of condition, the ease of steering of low speed operating condition and high speed operating condition.EPS system is by mechanical and electronic component group
At, in attached drawing 1, wherein mechanical part include: tyre P 1, drag link P2, rack gear P3, pinion gear P4, universal joint P5, tubing string P6,
The components such as worm and gear P7, torsion bar P11, steering wheel P12, electronic section include: motor P8, control unit (ECU) P9, torque biography
Sensor P10 and the components such as vehicle electric signal and power supply composition.Compared with conventional steering, EPS system can obviously optimize automobile
Dynamic driving performance and original place static properties, the manipulation comfort for improving driver and safety is turned to, while can reduced pair
The tail gas pollution etc. of environment.Especially new-energy automobile, electric car and autonomous driving vehicle are quickly grown in recent years, and EPS is more
It is essential critical component.
For automobile in steering procedure, motor generates auxiliary assist torque according to ECU control algolithm, makes the operation of driver more
Add it is light with it is comfortable.In actual mechanical system, there are many middle position return performances that factor will affect steering wheel, such as tire, road
The factors such as face, system inertia, damping, friction, can all cause handling characteristic be deteriorated, road feel weaken, low speed when steering wheel return just
Phenomena such as insufficient.Return the main reason for positive insufficient have tire cornering power deficiency, frictional ground force, the reverse frictional force of rack-and-pinion,
The factors such as worm and gear frictional force, so motor is provided outside necessary auxiliary power-assisted, it is also necessary to increase plus return accordingly positive current
Friction Compensation is carried out, to improve the control stability of vehicle.
It is current that positive current is mainly applied back according to the current corner degree of reading using increase rotary angle transmitter both at home and abroad
Realize corner closed loop, to achieve the purpose that improve return performance, this method safety is reliable, but system cost is too high, and
The system of (being greater than forward and reverse 990 degree) larger for steering wheel rotational angle, in present batch, there are no special one in the market
Body rotary angle transmitter is able to satisfy the steering system of wide-angle.Japan and Some Domestic EPS control module producer be reduce at
This, is also returned positive strategy using without rotary angle transmitter, currently mainly there is two kinds of volume production schemes: first is that the method estimated using corner
It realizes rotary transform tensor, first estimation motor speed, is then integrated according to revolving speed, obtain corner, then realize corner closed loop, this
Kind method is limited the judgement of position in the precision and steering wheel of turn count, haves the defects that angle inaccuracy, middle position deviation are big；
Second is that reading current torque sensor numerical value when steering wheel is let go, apply certain time positive electricity according to the size of this numerical value
Stream, return positive status be identified according to steering torque, if driver during Vehicular turn by steering wheel left and right directions slightly
Rotation, will occur back the frequent switching between positive status and steering state immediately, cause steering feel irregularity.
Summary of the invention
The steering system friction compensation method based on torque signals that the invention mainly solves the technical problem of providing a kind of,
To optimize steering wheel return performance, control algolithm torque sensor, speed signal according to necessary to steering system, computing system
Static friction and sliding friction compensate electric current, make motor generate aligning torque, this method is simple and reliable, at the same be suitable for it is low
Cost Design demand.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: it provides a kind of based on torque signals
Steering system friction compensation method, comprising the following specific steps
A, static friction compensation electric current calculates, and using steering wheel, torque is input quantity to compensation electric current on hand, in returning for steering wheel
When just or letting go, it can read current vehicle speed and the current moment values of torque sensor, current vehicle speed is filtered by low-pass filter
Wave can provide the compensation electric current under different speeds according to this value and table look-up, and current moment values also pass through another low-pass filter removal
Then ripple and high dither determine by torque dead zone, some Slight undulations operated on hand are shielded, by torque dead zone
Moment values after judgement take absolute value, and tabling look-up for quiescent current, static friction are then carried out together with filtered speed
The electric current of compensation is contrary with torque, it is therefore desirable to and torque direction is extracted, direction is assigned into static compensation electric current, such
Compensation electric current out can overcome static friction, and steering wheel is allowed to generate back positive staring torque；
B, sliding friction compensation electric current calculates, and when direct action occurs back for steering wheel, current vehicle speed is read first, by speed
Low-pass filtering is carried out by low-pass filter, is then tabled look-up to the sliding friction penalty coefficient under different speeds, sliding rubs
Another input parameter for wiping compensation is current moment values, moment variations rate is calculated according to algorithm calculating cycle, using variation
Rate dead zone determines, obtains moment variations rate value, takes absolute value to change rate, carries out sliding friction compensation electric current with this value and looks into
Table, compensates electric current of tabling look-up with sliding friction according to speed penalty coefficient and is multiplied, and obtains compensation direction further according to moment variations rate, this
Sample can calculate the sliding friction compensation electric current finally applied；
C, actual current calculates, and actual current includes friciton compensation electric current and power-assisted electric current, wherein friciton compensation electric current is
Electric current is compensated according to sliding friction and is added friciton compensation total current with static friction compensation electric current, and is carried out friciton compensation and limited
Arrive, final output is real electrical machinery target current, when absolute angle becomes larger namely steering wheel is beaten to both sides when, this
When be presented as power-assisted electric current, when returning just or when steering wheel is let go, be presented as back positive current, compensating torque and tire cornering power at this time
The sum of square is of substantially equal with total moment of friction, if it is greater than frictional force then may oversteering, to be limited.
In a preferred embodiment of the present invention, static friction compensation is mended according to the size of torque on hand
The design for repaying electric current, in the test of actual vehicle, the corresponding relationship of steering wheel torque and steering wheel angle is one oblique flat
Row quadrangle, with the increase of angle, the absolute value of torque also increases, and the compensation of static friction is overcome according to the setting of this relationship
Electric current.
In a preferred embodiment of the present invention, sliding friction compensation is carried out according to the change rate of torque on hand
Compensate electric current design, when steering wheel to commutation moment or the when of letting go, control strategy can calculate the change rate of moment values, according to
This change rate applies sliding friction and compensates electric current, so that steering wheel quickly and accurately returns to middle position.
In a preferred embodiment of the present invention, the layout strategy of friciton compensation limitation is: first in prestowage shape
The tire cornering power and friciton compensation electric current under different speeds are measured under condition, friciton compensation electric current and power-assisted current superposition are practical
Electric current.
The beneficial effects of the present invention are: the steering system friction compensation method of the invention based on torque signals, practicability
By force, it is widely used, in the just insufficient situation of steering wheel return, similar rebound can be generated and feel that driver can be comfortable on, gently
Pine compensates algorithm only with the measured value of torque sensor and speed, will not generate signal source in entire algorithm
Unreliable problem, therefore high reliablity mainly, without too many complex calculation, it is too many will not to occupy MCU based on tabling look-up in algorithm
Resource, low to platform dependence, program portable is convenient.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, in which:
Fig. 1 is the structural schematic diagram of electric boosting steering system；
Fig. 2 is static friction compensating current control strategy；
Fig. 3 is sliding friction compensating current control strategy；
Fig. 4 is that motor target current calculates.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
As in Figure 2-4, the embodiment of the present invention includes:
A kind of steering system friction compensation method based on torque signals, comprising the following specific steps
A, static friction compensation electric current calculates, and using steering wheel, torque is input quantity to compensation electric current on hand, in returning for steering wheel
When just or letting go, it can read current vehicle speed S1 and torque sensor current moment values S2, current vehicle speed S1 pass through low-pass filter
S3 is filtered, and can be provided the compensation electric current under different speeds according to this value and be tabled look-up, current moment values S2 also passes through another low pass
Filter S4 removes ripple and high dither, then determines by torque dead zone S5, some Slight undulations screens that will be operated on hand
It covers, the moment values after torque dead zone S5 judgement carry out the S6 that takes absolute value, and static state is then carried out together with filtered speed
The electric current of the S8 that tables look-up of electric current, static friction compensation are contrary with torque, it is therefore desirable to extract torque direction S7, direction is assigned
Into static compensation electric current, the compensation electric current obtained in this way can overcome static friction, and steering wheel is allowed to generate back positive starting
Torque；
B, sliding friction compensation electric current calculates, and when direct action occurs back for steering wheel, reading current vehicle speed K1 first will work as
Preceding speed K1 carries out low-pass filtering by low-pass filter K3, then looks into the sliding friction penalty coefficient under different speeds
Another input parameter of table K8, sliding friction compensation are current moment values K2, calculate moment variations according to algorithm calculating cycle
Rate K4, using change rate dead zone K5 determine, obtain moment variations rate value, the K6 that takes absolute value carried out to change rate, with this value into
Row sliding friction compensation electric current is tabled look-up K9, is compensated electric current of tabling look-up with sliding friction according to speed penalty coefficient and is multiplied, further according to power
Square change rate obtains compensation electric current and assigns direction K10, can thus calculate the sliding friction compensation electric current K11 finally applied；
C, actual current calculates, and actual current includes friciton compensation electric current and power-assisted electric current, wherein friciton compensation electric current is
Electric current T1 is compensated according to sliding friction and is added friciton compensation total current T4 with static friction compensation electric current T2, and carries out friciton compensation
Restricted T 5 obtains, and final output is real electrical machinery target current T6, and when absolute angle becomes larger, that is, steering wheel is beaten to both sides
When, it is presented as power-assisted electric current T3 at this time, when returning just or steering wheel is let go, is presented as back positive current, compensating torque at this time
It is of substantially equal with total moment of friction with the sum of Wheel slip torque, if it is greater than frictional force then may oversteering,
It is limited.
It is electronic but it is also suitable for single pinion gear or double pinion the present invention is based on tubular column shape electric power steering (C-EPS)
Servo steering system (P-EPS).Steering wheel return just during, if tire cornering power is insufficient or system friction is larger,
The phenomenon that positive deficiency can be presented back keeps driver's operation painstaking, and simultaneity factor control stability is deteriorated, it is therefore desirable to rub
Compensation is to improve back plus effect.
Working principle: the main reason for influencing back positive characteristic is two factors of tire cornering characteristics and system friction, works as wheel
When tire lateral deviation power is greater than frictional force, negative understeer can be shown, when tire cornering power is less than frictional force, can show back positive deficiency,
In practice due to automotive vertical load and frictional force, positive deficiency can be all shown as back substantially.Moment of friction is in Hui Zhengdong
Two stages in work embody, and characterize phenomenon and differ greatly, and the first stage is back the stiction before just starting, this hour wheel
Tire and steering wheel remain static, and to provide biggish static friction compensation electric current, and steering wheel can just act；Second stage
Force of sliding friction during being back just, tire has been kept in motion with steering wheel at this time, there is certain movement velocity, this
Balancing force required by stage cannot be excessive, and the duration cannot be too long, and oversteering otherwise can occur.Therefore the principle of design is
In the case where no rotary angle transmitter, according to torque signals and the feature of speed, provides and overcome static friction and force of sliding friction
Motor control electric current.
Among the above, static friction compensation is that the design of electric current is compensated according to the size of torque on hand, in reality
In the vehicle test on border, the corresponding relationship of steering wheel torque and steering wheel angle is an oblique parallelogram, with angle
Increase, the absolute value of torque also increases, and the compensation electric current of static friction is overcome according to the setting of this relationship；The sliding rubs
Wiping compensation is that the design of electric current is compensated according to the change rate of torque on hand, when steering wheel is in commutation moment or the when of letting go,
Control strategy can calculate the change rate of moment values, according to this change rate apply sliding friction compensate electric current so that steering wheel rapidly,
Accurately return to middle position.
Further, the layout strategy of the friciton compensation restricted T 5 is: measuring different vehicles under prestowage situation first
Tire cornering power and friciton compensation electric current under speed, friciton compensation electric current and power-assisted current superposition are actual current.
As shown in Figure 1, EPS system structure member, is divided into mechanical part and electronic component, mechanical part is that frictional force generates
Main contributor, under the premise of vehicle four-wheel aligner is correct, the main reason for steering wheel can not return to middle position is tire rebound
Power is insufficient, and followed by frictional force of frictional ground force, rack-and-pinion, worm and gear etc. is excessive causes, therefore entire frictional force is mended
Repaying is carried out for whole system, rather than specifically for a certain structure.EPS electronic section includes torque sensor, ECU and electricity
Machine.
The algorithm of static friction force compensating electric current is described in attached drawing 2, when main basis is returned just or is let go, torque signals
Value compensates tabling look-up for electric current, since static friction differs greatly under different speeds, compensates looking into for current value
Table, the current value after tabling look-up is multiplied by compensation direction.
Have same there are two input quantity, respectively speed and torque in attached drawing 3, when because of stage thus, tire is in Xiang Zhongwei
The sliding position of sliding, frictional force and tire has certain linear relationship, so torque tables look-up and monotonicity is presented is incremented to saturation
State, change rate is bigger, compensation electric current it is bigger.When change rate is zero, compensation electric current is zero, will not be produced in middle position in this way
Raw reforming phenomena.
Attached drawing 4 is the calculation method of motor final goal electric current, and friciton compensation electric current needs to compensate the limitation of electric current,
The sum of compensating torque maximum value and tire cornering power cannot be greater than frictional force.
Embodiment:
It is the electric boosting steering system based on no rotary angle transmitter, is suitable for tubular column shape EPS and pinion type EPS system
System.
Before being designed, first according to Fig. 1, the frictional force (not including tire) of computing system specifically can be with specially
Functional test rack, measure the reverse frictional force of system under zero load, then according to tyre type and cornering stiffness, vertical carry
Lotus calculates tire cornering power, using this two parameter as design requirement and protective condition.The step of implementing friciton compensation is wrapped
It includes:
Static friction compensation calculation, with reference to the accompanying drawings 2, torque is subjected to low frequency filtering processing, then dead zone is set, it is general dead
Area is set as 0.8-1Nm, and moment values, which take absolute value, to be compensated electric current and table look-up, and lookup data is generally in 2.5-3Nm
Reach maximum, the setting of this value needs practical calibration, and hired roughneck is not principle to steering wheel, because of static friction torque under different speeds
It is different, therefore the value obtained of tabling look-up also needs then to be assigned to compensation sense of current multiplied by speed coefficient, can overcome in this way
Static friction torque, enables steering wheel to act.
Sliding friction compensation calculation, with reference to the accompanying drawings 3, torque is equally subjected to low frequency filtering, then according to execution cycle pair
Torque carries out differential process, obtains moment variations rate, and moment variations rate is carried out dead zone judgement, then takes absolute value and tables look-up to obtain
Electric current is compensated, then come the coefficient tabled look-up according to speed and compensates current direction, calculates sliding friction compensation electric current.
After calculating static friction compensation and sliding friction compensation, with reference to the accompanying drawings 4, two values are added, this value needs to carry out
Compensating torque limitation, the sum of compensating torque maximum value and tire cornering power needs and frictional force are of substantially equal, to guarantee to send out
Raw oversteering.Final motor target current is compensation the sum of electric current and power-assisted electric current, will not generate power-assisted in this way and return just
The bad phenomenon of frequency switching.
In conclusion the steering system friction compensation method of the invention based on torque signals, practical, using wide
It is general, in the just insufficient situation of steering wheel return, similar rebound can be generated and feel that driver can be comfortable on, easily, entirely calculate
In method, algorithm is compensated only with the measured value of torque sensor and speed, it is unreliable to lead to the problem of signal source,
Therefore high reliablity mainly, without too many complex calculation, will not occupy the too many resource of MCU, to platform based on tabling look-up in algorithm
Dependence is low, and program portable is convenient.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright description is applied directly or indirectly in other relevant technology necks
Domain is included within the scope of the present invention.
Claims (4)
1. a kind of steering system friction compensation method based on torque signals, which is characterized in that comprising the following specific steps
A, static friction compensation electric current calculate, compensation electric current using steering wheel on hand torque as input quantity, steering wheel return just or
When letting go, it can read current vehicle speed and the current moment values of torque sensor, current vehicle speed be filtered by low-pass filter, root
Value can provide the compensation electric current under different speeds and table look-up accordingly, current moment values also pass through another low-pass filter removal ripple and
Then high dither determines by torque dead zone, some Slight undulations operated on hand are shielded, after torque dead zone determines
Moment values take absolute value, then carry out tabling look-up for quiescent current together with filtered speed, static friction compensation
Electric current is contrary with torque, it is therefore desirable to and torque direction is extracted, direction is assigned into static compensation electric current, the benefit obtained in this way
Static friction can be overcome by repaying electric current, and steering wheel is allowed to generate back positive staring torque；
B, sliding friction compensation electric current calculates, and when direct action occurs back for steering wheel, reads current vehicle speed first, speed is passed through
Low-pass filter carries out low-pass filtering, then tables look-up to the sliding friction penalty coefficient under different speeds, and sliding friction is mended
Another input parameter repaid is current moment values, calculates moment variations rate according to algorithm calculating cycle, dead using change rate
Area determines, obtains moment variations rate value, takes absolute value to change rate, carries out sliding friction compensation electric current with this value and tables look-up,
Electric current of tabling look-up is compensated with sliding friction according to speed penalty coefficient to be multiplied, and obtains compensation direction further according to moment variations rate, in this way
The sliding friction compensation electric current finally applied can be calculated；
C, actual current calculates, and actual current includes friciton compensation electric current and power-assisted electric current, wherein friciton compensation electric current is basis
Sliding friction compensates electric current and is added friciton compensation total current with static friction compensation electric current, and carries out friciton compensation and limit to obtain,
Final output is real electrical machinery target current, when absolute angle becomes larger namely steering wheel is beaten to both sides when, body at this time
Now be power-assisted electric current, when returning just or when steering wheel is let go, be presented as back positive current at this time, compensating torque and Wheel slip torque it
With it is of substantially equal with total moment of friction, if it is greater than frictional force then may oversteering, to be limited.
2. the steering system friction compensation method according to claim 1 based on torque signals, which is characterized in that described
Static friction compensation is that the design of electric current is compensated according to the size of torque on hand, in the test of actual vehicle, steering wheel
The corresponding relationship of torque and steering wheel angle is an oblique parallelogram, with the increase of angle, the absolute value of torque
Increase, the compensation electric current of static friction is overcome according to the setting of this relationship.
3. the steering system friction compensation method according to claim 1 based on torque signals, which is characterized in that described
Sliding friction compensation is that the design of electric current is compensated according to the change rate of torque on hand, when steering wheel is in commutation moment or spreading
When hand, control strategy can calculate the change rate of moment values, apply sliding friction according to this change rate and compensate electric current, so that steering wheel
Quickly and accurately return to middle position.
4. the steering system friction compensation method according to claim 1 based on torque signals, which is characterized in that described
The layout strategy of friciton compensation limitation is: measuring the tire cornering power and friciton compensation under different speeds under prestowage situation first
Electric current, friciton compensation electric current and power-assisted current superposition are actual current.
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| CN201611233006.9A CN107054448B (en) | 2016-12-28 | 2016-12-28 | A kind of steering system friction compensation method based on torque signals |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB201717135D0 (en) * | 2017-10-18 | 2017-12-06 | Trw Ltd | Electrical power assisted steering system |
| CN108438044B (en) * | 2018-02-01 | 2020-01-21 | 北京汽车股份有限公司 | Tire taper force compensation control method and device, steering system and vehicle |
| CN111348101B (en) * | 2018-12-24 | 2021-10-08 | 耐世特汽车系统（苏州）有限公司 | Electric steering assistance system, friction compensation method, device, equipment and medium |
| DE102019206980B4 (en) | 2019-05-14 | 2023-06-22 | Volkswagen Aktiengesellschaft | Method and steering control device for determining a manipulated variable for setting a power steering torque in a vehicle steering system |
| CN112061229A (en) * | 2020-08-06 | 2020-12-11 | 上海拓为汽车技术有限公司 | Friction compensation method of electric power steering system |
| CN115071807B (en) * | 2021-03-15 | 2023-09-12 | 北汽福田汽车股份有限公司 | Control method and device and vehicle |
| CN115973266B (en) * | 2023-03-21 | 2023-07-04 | 深圳佑驾创新科技有限公司 | Torque compensation method and device for steering wheel dead zone, computer equipment and medium |
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| CN102105341A (en) * | 2009-01-28 | 2011-06-22 | 日本精工株式会社 | Electric power steering device |
| CN102717826A (en) * | 2012-06-25 | 2012-10-10 | 汽车零部件研究及发展中心有限公司 | Method for aligning control of electric power steering system for vehicle |
| CN104995083A (en) * | 2013-03-29 | 2015-10-21 | 日立汽车系统转向器株式会社 | Power steering device, and control device used for same |
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