CN108674482A - Electric boosting steering system, control method and vehicle - Google Patents
Electric boosting steering system, control method and vehicle Download PDFInfo
- Publication number
- CN108674482A CN108674482A CN201810480379.9A CN201810480379A CN108674482A CN 108674482 A CN108674482 A CN 108674482A CN 201810480379 A CN201810480379 A CN 201810480379A CN 108674482 A CN108674482 A CN 108674482A
- Authority
- CN
- China
- Prior art keywords
- friction
- compensation
- torque
- friction compensation
- vehicle
- 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
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004069 differentiation Effects 0.000 abstract 1
- 238000013016 damping Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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
- B62D5/046—Controlling the motor
-
- 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
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 present invention provides electric boosting steering system, control method and vehicle, electric boosting steering system：Torque sensor, the torque sensor are used to detect the frictional resistance moment of vehicle；Friciton compensation module, the friciton compensation module obtain original friciton compensation torque, and the frictional resistance moment detected according to the original friciton compensation torque and the torque sensor, calculate the friciton compensation adjusted coefficient K of the vehiclef', and thus calculate friciton compensation electric current；Motor control module, the motor control module are based on the friciton compensation electric current and carry out current compensation and carry out power-assisted steering control.Electric boosting steering system according to the present invention, the frictional resistance moment of vehicle is measured by torque sensor, friciton compensation module calculates the friciton compensation electric current of vehicle according to frictional resistance moment, realizes the output of differentiation friciton compensation, improves steering feel.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to an electric power steering system, a control method, and a vehicle.
Background
The electric power steering system is widely applied due to the factors of compact structure, energy conservation, emission reduction, rich training function and the like. Although current electric power assisted steering system has the friction compensation function, because spare part manufacturing and whole car assembly difference, different vehicles have different frictional resistance moments, and the mismatching condition may exist on different vehicles in same friction compensation curve, and the influence is turned to and is felt.
Disclosure of Invention
In view of the above, the present invention provides an electric power steering system.
The invention also provides a vehicle with the electric power steering system.
The invention further provides an electric power steering control method.
In order to solve the technical problems, the invention adopts the following technical scheme:
an electric power steering system according to an embodiment of a first aspect of the present invention includes:
a torque sensor for detecting a frictional resistance torque of a vehicle; and
the friction compensation module acquires an original friction compensation torque and calculates a friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and a friction resistance torque detected by the torque sensorf', and are composed ofThis calculates the friction compensation current;
and the motor control module is used for carrying out current compensation and power-assisted steering control on the basis of the friction compensation current.
Further, the friction compensation module obtains an original friction compensation torque based on angular speed signals of a steering wheel at different vehicle speeds, the torque sensor measures the friction resistance torque of the vehicle for multiple times to calculate an average friction resistance torque of the vehicle, the friction compensation module compares the average friction resistance torque with the original friction compensation torque, and the ratio of the average friction resistance torque to the original friction compensation torque is calculated to obtain a friction compensation correction coefficient Kf’。
Further, the calculation formula of the friction compensation current is as follows:
If＝Kf’·Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfDenotes the coefficient of friction compensation, Kf' denotes a friction compensation correction coefficient.
A vehicle according to an embodiment of the second aspect of the invention includes an electric power steering system according to the above-described embodiment.
An electric power steering control method according to an embodiment of a third aspect of the present invention includes the steps of:
s1, acquiring the original friction compensation torque of the vehicle;
s2, detecting the friction resistance torque of the vehicle;
s3, calculating the friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and the detected friction resistance torquef', and calculating therefrom a friction compensation current;
and S4, performing current compensation based on the friction compensation current and performing electric power steering control.
Further, in the step S1, the original friction compensation torque is obtained based on the angular velocity signals of the steering wheel at different vehicle speeds.
Further, in step S2, the steering wheel is controlled to rotate at a constant speed while the wheels are suspended, and the frictional resistance torque is measured and recorded.
Further, in the step S2, the frictional resistance torque of the vehicle is measured a plurality of times, the average frictional resistance torque is calculated, in the step S3, the average frictional resistance torque is compared with the original frictional compensation torque, and the ratio of the average frictional resistance torque to the original frictional compensation torque is calculated to obtain the frictional compensation correction coefficient Kf’。
Further, the calculation formula of the friction compensation current is as follows:
If＝Kf’·Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfTo compensate for the coefficient of friction, Kf' denotes a friction compensation correction coefficient.
The technical scheme of the invention at least has one of the following beneficial effects:
according to the electric power steering system provided by the embodiment of the invention, the friction resistance torque of the vehicle is measured through the torque sensor, the friction compensation module calculates the friction compensation current of the vehicle according to the friction resistance torque, and the motor control module performs current compensation according to the friction compensation current and realizes power steering control, so that differentiated friction compensation output is realized, and the steering hand feeling is improved.
Drawings
FIG. 1 is a block diagram of a prior art electric power steering system;
FIG. 2 is a friction compensation curve for a prior art electric power steering system;
FIG. 3 is a block diagram of an electric power steering system according to an embodiment of the present invention;
FIG. 4 is a flow chart of an electric power steering control method according to an embodiment of the present invention;
fig. 5 is a resulting friction compensation curve of an electric power steering system according to an embodiment of the present invention.
Reference numerals:
an electric power steering system 100; a basic booster module 10; a return-to-positive compensation module 20; an inertia compensation module 30; a damping compensation module 40; a friction compensation module 50; a motor control module 60.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
The present invention is invented by the inventors of the present application based on the following facts.
As shown in fig. 1, an electric power steering system in the prior art mainly includes a basic power module 1, a return compensation module 2, an inertia compensation module 3, a damping compensation module 4, a friction compensation module 5, and a motor control module, where the friction compensation module 5 controls and outputs a friction compensation current according to a vehicle speed and a steering wheel angular velocity as variables, and the friction compensation current is calculated according to the following formula:
If＝Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfIs the friction compensation coefficient.
As shown in fig. 2, only one friction compensation curve of the conventional electric power steering system is used in all vehicles, and the same friction compensation curve may be mismatched in different vehicles, thereby affecting the steering feel.
Based on the above technical problems in the prior art, the inventor of the present application has studied the electric power steering system in the prior art and has proposed a new electric power steering system.
An electric power steering system according to an embodiment of the present invention will be described first in detail with reference to the accompanying drawings.
As shown in fig. 3, the electric power steering system according to the embodiment of the present invention includes a torque sensor (not shown), a friction compensation module 50, and a motor control module 60. In addition, the electric power steering system according to the embodiment of the present invention may further include a base assist module 10, a return-to-normal compensation module 20, an inertia compensation module 30, and a damping compensation module 40, which may employ modules having the same functions as those of the related art, and a detailed description thereof will be omitted.
Specifically, the torque sensor is used for detecting the frictional resistance torque of the vehicle, the friction compensation module 50 obtains the original friction compensation torque, and calculates the friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and the frictional resistance torque detected by the torque sensorf' and calculates a friction compensation current therefrom, the motor control module 60 performs current compensation based on the friction compensation current and performs power steering control.
In other words, as shown in fig. 3, the electric power steering system 100 mainly includes a torque sensor, a friction compensation module 50, a motor control module 60, a basic power module 10, and a return-to-normal compensation module20. Inertia compensation module 30 and damping compensation module 40, wherein, torque sensor can measure the frictional resistance moment of vehicle, because spare part is made and whole car assembly difference, different vehicles have different frictional resistance moments, and friction compensation module 50 obtains original friction compensation moment, and according to the frictional resistance moment that original friction compensation moment and torque sensor detected and obtained calculates the friction compensation correction coefficient K of vehiclef', and compensating the correction coefficient K according to the frictionfThe friction compensation current is calculated, the motor control module 60 performs current compensation according to the friction compensation current and performs power steering control, so that differentiated friction compensation output is realized, and steering hand feeling is improved.
Therefore, according to the electric power steering system 100 of the embodiment of the present invention, the friction resistance torque of the vehicle is measured by the torque sensor, the friction compensation module 50 calculates the friction compensation current of the vehicle according to the original friction compensation torque and the friction resistance torque, and the motor control module 60 performs current compensation according to the friction compensation current and implements power steering control, thereby implementing differential friction compensation output and improving steering feel.
According to some embodiments of the present invention, the friction compensation module 50 obtains an original friction compensation torque based on the angular velocity signals of the steering wheel at different vehicle speeds (a person skilled in the art can obtain the original friction compensation torque by the same method as the prior art, and detailed description thereof is omitted), the torque sensor calculates an average friction resistance torque by measuring the friction resistance torque of the vehicle for multiple times, the friction compensation module 50 compares the average friction resistance torque with the original friction compensation torque, and calculates a ratio of the average friction resistance torque to the original friction compensation torque to obtain a friction compensation correction coefficient Kf’。
According to one embodiment of the present invention, the friction compensation current is calculated as follows:
If＝Kf’·Kf·sign(ωm)
wherein,Iffor compensating the current for friction, omegamIs the motor speed, KfDenotes the coefficient of friction compensation, Kf' denotes a friction compensation correction coefficient.
In summary, according to the electric power steering system 100 of the embodiment of the present invention, the torque sensor measures the frictional resistance torque of the vehicle, the friction compensation module 50 calculates the frictional compensation current of the vehicle according to the original frictional compensation torque and the frictional resistance torque, and the motor control module 60 performs current compensation according to the frictional compensation current and implements power steering control, thereby implementing differential friction compensation output and improving steering feel.
The vehicle according to the embodiment of the present invention includes the electric power steering system 100 according to the above-mentioned embodiment, and since the electric power steering system 100 according to the above-mentioned embodiment of the present invention has the above-mentioned technical effects, the vehicle according to the embodiment of the present invention also has corresponding technical effects, realizes differentiated friction compensation output, and improves steering feel.
The construction and operation of a vehicle according to an embodiment of the present invention will be understood and readily implemented by those skilled in the art, and thus will not be described in detail.
As shown in fig. 4, the electric power steering control method according to the embodiment of the present invention includes the steps of:
and S1, acquiring the original friction compensation torque of the vehicle.
According to some embodiments of the present invention, the original friction compensation torque may be obtained by the friction compensation module 50 in the electric power steering system 100 according to the embodiments of the present invention based on the angular velocity signals of the steering wheel at different vehicle speeds.
And S2, detecting the friction resistance torque of the vehicle.
According to some embodiments of the invention, the steering wheel can be controlled to rotate at a constant speed when the wheels are in a suspended state, and the frictional resistance moment can be measured and recorded.
S3, calculating the friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and the detected friction resistance torquef', and calculating a friction compensation current therefrom.
According to some embodiments of the present invention, in step S3, the friction compensation current is calculated as follows:
If＝Kf’·Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfTo compensate for the coefficient of friction, Kf' denotes a friction compensation correction coefficient.
According to some embodiments of the present invention, in the step S2, the frictional resistance torque of the vehicle is measured a plurality of times, the average frictional resistance torque is calculated, in the step S3, the average frictional resistance torque is compared with the original frictional compensation torque, and the ratio of the average frictional resistance torque to the original frictional compensation torque is calculated to obtain the frictional compensation correction coefficient Kf'. Thereby, the friction compensation correction coefficient K can be calculatedf' more accurate.
And S4, performing current compensation based on the friction compensation current and performing electric power steering control.
FIG. 5 shows the introduction of a friction compensation correction factor Kf’The adjustable friction compensation curves, curves 1, 2 and 3 …, are then each adapted to different frictional torques.
In one embodiment of the present invention, a method for controlling an electric power steering includes the steps of:
1) acquiring original friction compensation torque according to angular speed signals of a steering wheel at different vehicle speeds;
2) a learning command is sent to the electric power steering system 100 through a diagnostic instrument connected to the OBD, the electric power steering system 100 enters a friction compensation learning mode,
controlling the steering wheel to rotate at a constant speed under the suspension state of the wheels, and measuring and recording the friction resistance moment;
3) comparing the recorded friction resisting moment with the original friction compensation moment, and calculating the ratio of the average friction resisting moment to the original friction compensation moment to obtain a friction compensation correction coefficient Kf', and calculating and outputting a friction compensation current therefrom;
4) and performing current compensation based on the friction compensation current and performing electric power steering control.
According to the control method of the electric power steering, the current compensation is carried out based on the differentiated friction compensation current, the power steering control is carried out, and the steering hand feeling is improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An electric power steering system characterized by comprising:
a torque sensor for detecting a frictional resistance torque of a vehicle; and
the friction compensation module acquires an original friction compensation torque and calculates a friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and a friction resistance torque detected by the torque sensorf', and calculating therefrom a friction compensation current;
and the motor control module is used for carrying out current compensation and power-assisted steering control on the basis of the friction compensation current.
2. The electric power steering system according to claim 1,
the friction compensation module obtains an original friction compensation torque based on the angular speed signals of the steering wheel at different vehicle speeds,
the torque sensor calculates the average frictional resisting moment of the vehicle by measuring the frictional resisting moment of the vehicle for a plurality of times,
the friction compensation module compares the average friction resisting moment with the original friction compensation moment, and calculates the ratio of the average friction resisting moment to the original friction compensation moment to obtain a friction compensation correction coefficient Kf’。
3. The electric power steering system according to claim 2, characterized in that the friction compensation current is calculated as follows:
If＝Kf’·Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfDenotes the coefficient of friction compensation, Kf' denotes a friction compensation correction coefficient.
4. A vehicle characterized by comprising an electric power steering system according to any one of claims 1 to 3.
5. An electric power steering control method is characterized by comprising the following steps:
s1, acquiring the original friction compensation torque of the vehicle;
s2, detecting the friction resistance torque of the vehicle;
s3, calculating the friction compensation correction coefficient K of the vehicle according to the original friction compensation torque and the detected friction resistance torquef', and calculating therefrom the friction compensationCurrent flow;
and S4, performing current compensation based on the friction compensation current and performing electric power steering control.
6. The electric power steering control method according to claim 5,
in step S1, the original friction compensation torque is obtained based on the angular velocity signals of the steering wheel at different vehicle speeds.
7. The electric power steering control method according to claim 6,
in step S2, the steering wheel is controlled to rotate at a constant speed while the wheels are suspended, and the frictional resistance torque is measured and recorded.
8. The electric power steering control method according to claim 7,
in the step S2, the frictional resistance torque of the vehicle is measured a plurality of times, the average frictional resistance torque thereof is calculated,
in the step S3, the average frictional resistance torque is compared with the original frictional compensation torque, and a ratio of the average frictional resistance torque to the original frictional compensation torque is calculated to obtain a frictional compensation correction coefficient Kf’。
9. The electric power steering control method according to claim 8, wherein in step S3, the friction compensation current is calculated as follows:
If＝Kf’·Kf·sign(ωm)
wherein, IfFor compensating the current for friction, omegamIs the motor speed, KfTo compensate for the coefficient of friction, Kf' denotes a friction compensation correction coefficient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810480379.9A CN108674482B (en) | 2018-05-18 | 2018-05-18 | Electric power steering system, control method and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810480379.9A CN108674482B (en) | 2018-05-18 | 2018-05-18 | Electric power steering system, control method and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108674482A true CN108674482A (en) | 2018-10-19 |
| CN108674482B CN108674482B (en) | 2020-09-15 |
Family
ID=63805724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810480379.9A Active CN108674482B (en) | 2018-05-18 | 2018-05-18 | Electric power steering system, control method and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108674482B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911004A (en) * | 2019-03-08 | 2019-06-21 | 华南理工大学 | A kind of rotary transform tensor method and device of electric power steering apparatus |
| CN111976824A (en) * | 2019-05-21 | 2020-11-24 | 上海汽车集团股份有限公司 | Inertia compensation method of electric power steering system and related device |
| CN112187134A (en) * | 2020-09-01 | 2021-01-05 | 瑞声科技（南京）有限公司 | Motor friction compensation method, system and computer readable storage medium thereof |
| CN114248837A (en) * | 2022-01-28 | 2022-03-29 | 中国第一汽车股份有限公司 | Steering load determination method and device, steer-by-wire system and vehicle |
| CN114919644A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Control adjustment system and method for electric power steering, automobile and medium |
| CN115366984A (en) * | 2021-05-21 | 2022-11-22 | 广州汽车集团股份有限公司 | Torque steering compensation method, device, vehicle and storage medium |
| WO2023240929A1 (en) * | 2022-06-16 | 2023-12-21 | 上汽通用五菱汽车股份有限公司 | Compensation method and apparatus for electric power steering, and vehicle |
| WO2023240921A1 (en) * | 2022-06-16 | 2023-12-21 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1652960A (en) * | 2002-05-16 | 2005-08-10 | Zf操作系统有限公司 | Method for operating a steering system for a motor vehicle and steering system |
| US20120209475A1 (en) * | 2011-02-16 | 2012-08-16 | Steering Solutions Ip Holding Corporation | Electric Power Steering Control Methods And Systems Using Hysteresis Compensation |
| DE102011111421A1 (en) * | 2011-08-23 | 2013-02-28 | Volkswagen Aktiengesellschaft | Method for performing steering assistance of power steering system in motor vehicle, involves correcting determined target force by weighting factor which is dependent on temperature factor of steering system |
| CN103863393A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Friction compensation method of electric power steering system |
| 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 |
-
2018
- 2018-05-18 CN CN201810480379.9A patent/CN108674482B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1652960A (en) * | 2002-05-16 | 2005-08-10 | Zf操作系统有限公司 | Method for operating a steering system for a motor vehicle and steering system |
| US20120209475A1 (en) * | 2011-02-16 | 2012-08-16 | Steering Solutions Ip Holding Corporation | Electric Power Steering Control Methods And Systems Using Hysteresis Compensation |
| DE102011111421A1 (en) * | 2011-08-23 | 2013-02-28 | Volkswagen Aktiengesellschaft | Method for performing steering assistance of power steering system in motor vehicle, involves correcting determined target force by weighting factor which is dependent on temperature factor of steering system |
| CN103863393A (en) * | 2012-12-17 | 2014-06-18 | 联创汽车电子有限公司 | Friction compensation method of electric power steering system |
| 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 |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911004A (en) * | 2019-03-08 | 2019-06-21 | 华南理工大学 | A kind of rotary transform tensor method and device of electric power steering apparatus |
| CN109911004B (en) * | 2019-03-08 | 2022-05-24 | 华南理工大学 | Aligning control method and device of electric power steering device |
| CN111976824A (en) * | 2019-05-21 | 2020-11-24 | 上海汽车集团股份有限公司 | Inertia compensation method of electric power steering system and related device |
| CN111976824B (en) * | 2019-05-21 | 2021-11-16 | 上海汽车集团股份有限公司 | Inertia compensation method of electric power steering system and related device |
| CN112187134A (en) * | 2020-09-01 | 2021-01-05 | 瑞声科技（南京）有限公司 | Motor friction compensation method, system and computer readable storage medium thereof |
| CN115366984A (en) * | 2021-05-21 | 2022-11-22 | 广州汽车集团股份有限公司 | Torque steering compensation method, device, vehicle and storage medium |
| CN115366984B (en) * | 2021-05-21 | 2023-08-15 | 广州汽车集团股份有限公司 | Torque steering compensation method, device, vehicle and storage medium |
| CN114248837A (en) * | 2022-01-28 | 2022-03-29 | 中国第一汽车股份有限公司 | Steering load determination method and device, steer-by-wire system and vehicle |
| CN114919644A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Control adjustment system and method for electric power steering, automobile and medium |
| WO2023240929A1 (en) * | 2022-06-16 | 2023-12-21 | 上汽通用五菱汽车股份有限公司 | Compensation method and apparatus for electric power steering, and vehicle |
| WO2023240921A1 (en) * | 2022-06-16 | 2023-12-21 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle, and computer-readable storage medium |
| CN114919644B (en) * | 2022-06-16 | 2024-05-28 | 上汽通用五菱汽车股份有限公司 | Control and adjustment system and method for electric power steering, automobile and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108674482B (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108674482B (en) | Electric power steering system, control method and vehicle | |
| CN106809207B (en) | A kind of electric vehicle load-carrying and gradient self-adaptation control method and its vehicle | |
| US6301534B1 (en) | Method and system for vehicle directional control by commanding lateral acceleration | |
| CN103889824B (en) | For determining method and the steering hardware of the rack force of steering hardware | |
| CN109094640B (en) | Wheel-driven electric automobile steer-by-wire system and control method | |
| CN106184225B (en) | Longitudinal automobile speedestimate method of distributed type four-wheel-driven electrical vehicular power control | |
| JPH0615340B2 (en) | Steering reaction force control device | |
| CN107187446A (en) | The cruise control method and device of electric vehicle | |
| JPH0616143A (en) | Method of obtaining dynamically marginal safety of vehicle | |
| JPH06167508A (en) | Detection method of retreat moving of car | |
| JP5195132B2 (en) | Steering angle estimation device for vehicle and electric power steering device equipped with the same | |
| CN106068219A (en) | Vehicle is with turning to angle detecting device and be equipped with this vehicle with turning to the electric power-assisted steering apparatus of angle detecting device | |
| JPWO2016125854A1 (en) | Electric power steering device | |
| WO2021210373A1 (en) | Vehicle control device | |
| JP2019104492A (en) | Electrical power assisted steering system | |
| JP2651922B2 (en) | Control method of electric power steering device | |
| CN109871044B (en) | Rotating speed tracking method and device | |
| KR20190027995A (en) | Method for determining assist torque of power steering system | |
| CN108275200B (en) | Composite energy-saving power-assisted steering device of electric wheel driven automobile and control method thereof | |
| JP2001182578A (en) | Method and device for controlling vehicle | |
| JP3780141B2 (en) | Electric power steering control device | |
| JP4479228B2 (en) | Wheel acceleration detection device | |
| JP3564163B2 (en) | Motor torque control device for electric vehicles | |
| JP4391534B2 (en) | Vehicle steering system | |
| JP4415043B2 (en) | Motor control 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 |