CN108860294A - A kind of electric boosting steering system active rotary transform tensor method and its system - Google Patents
A kind of electric boosting steering system active rotary transform tensor method and its system Download PDFInfo
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- CN108860294A CN108860294A CN201810628064.4A CN201810628064A CN108860294A CN 108860294 A CN108860294 A CN 108860294A CN 201810628064 A CN201810628064 A CN 201810628064A CN 108860294 A CN108860294 A CN 108860294A
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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
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- 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
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Abstract
The present invention provides a kind of electric boosting steering system active rotary transform tensor method, including：Acquire steering wheel angle, speed and driver's hand-power；It is pre-processed using speed and driver hand-power of the first default preprocess method to acquisition, and the steering wheel angle of acquisition is pre-processed using the second default preprocess method, obtain the actual speed of current steering wheel；Determine that required steering wheel target returns positive revolving speed under current steering wheel angle based on pretreated steering wheel angle and speed；Actual speed and steering wheel target based on obtained steering wheel return positive revolving speed and determine back positive current target value；Based on positive current target value and driver's hand-power after pretreatment is returned, final time positive goal electric current is determined；When speed after pretreatment is greater than preset speed threshold value, corresponding aligning torque is exported based on the final positive goal electric current that returns.Electric boosting steering system active rotary transform tensor method provided by the invention makes intact stability by force and comfort is good.
Description
Technical field
The present invention relates to technical field of automobile electronic control, and in particular to a kind of electric boosting steering system actively time positive control
Method and its system processed.
Background technique
Electric boosting steering system is a kind of directly by the power steering system of motor offer auxiliary torque, generally by turning round
Square sensor, rotary angle transmitter, vehicle speed sensor, assist motor, deceleration mechanism and electronic control unit composition.Electric boosted turn
It is electronic control unit to the working principle of system obtain driver's hand-power signal by torque sensor, pass through rotary angle transmitter
Hand-wheel angle signal is obtained, and combines the information such as speed, the direction of rotation of power-assisted and the size of power-assisted electric current are determined, thus complete
At real-time control power-assisted steering.Therefore it can be easily carried out does not provide motor different power-assisted effects simultaneously in speed
Fruit, guaranteeing automobile, light and flexible, high speed steering are reliable and stable when driving when driving in low speed steering.
When equipment tradition machinery steering system or the vehicle driving of hydraulic power-assist steering system, steering wheel can face with relying on
The aligning torque of vehicle voluntarily returns near middle position, and the positive characteristic of returning of this steering wheel provides good direction for driver
Sense, reduces the difficulty of steering operation.However, equipment electric boosting steering system vehicle, due to introduce assist motor and
Deceleration mechanism, the friction and damping for increasing entire steering system cause vehicle so that the return performance of steering wheel greatly declines
When running at a low speed, steering wheel can not return to middle position due to returning positive force deficiency, and when running at high speed, the positive mistake of steering wheel return
It is more, cause overshoot.The decline that electric boosting steering system bring returns positive ability causes the operability of vehicle and safety
Very big influence, therefore positive control is carried out back to steering wheel, it has also become necessary functions of electric boosting steering system.
Currently, in known technology, there is a kind of rotary transform tensor method (patent document CN102717826A) and (patent document
CN106347450A), the two is a kind of cost effective method of electric boosting steering system active rotary transform tensor, and direction is omitted
Disk rotary angle transmitter estimates steering wheel position by estimation aligning torque or by motor position, returns positive carry out to steering wheel
Compensation；There are also a kind of steering systems (patent document CN101746407A) for having rotary transform tensor, have steering wheel angle sensing
Device is judged by the steering situation of vehicle positive status is returned, and combines corner information, and control steering wheel carries out back just.So
And existing patent is all much the inexpensive solution for rotary transform tensor of introducing electric power steering when not having a rotary angle transmitter,
But automotive electronic technology development is getting faster, and many chassis electronic control technologies require the accurate input of steering wheel angle signal, because
This steering wheel angle sensor is popularized on vehicle, completely can be according to accurate steering wheel angle signal to vehicle
Steering wheel carries out accurate rotary transform tensor；And the patent of rotary transform tensor is much carried out for steering wheel based on rotary angle transmitter,
It requires to judge that this can introduce some problems to the positive status that returns of vehicle：First is that vehicle time positive status is more complicated, it is difficult
Accurately identified；Second is that in driving procedure, returns and just switch with normal direction of rotation operating condition very frequent, in return function and may help
The fluctuation that hand-power is caused when power function joining influences the driver comfort of driver.
It will not it would therefore be highly desirable to need to provide a kind of time positive status accuracy of judgement, return function and assist function switching moment
Caused by hand-power fluctuate rotary transform tensor scheme.
Summary of the invention
Example technical problems to be solved of the invention are for the electric power steering system for having steering wheel angle signal
System returns positive status and judges the hand that inaccurate, return function and assist function switching moment are be easy to cause in active rotary transform tensor
Fluctuation problem, provides a kind of reliable, not only independent of returning positive status judgement, but also steering wheel can be made rationally to return positive electronic help
Power steering system active rotary transform tensor method and its system.
The technical solution adopted by the present invention is：
The embodiment of the present invention provides a kind of electric boosting steering system active rotary transform tensor method, including：
Rotary transform tensor signal is acquired, the rotary transform tensor signal includes steering wheel angle, speed and driver's hand-power；
It is pre-processed using speed and driver hand-power of the first default preprocess method to acquisition, and uses second
Default preprocess method pre-processes the steering wheel angle of acquisition, obtains the actual speed of current steering wheel；
Required steering wheel target under current steering wheel angle is determined based on pretreated steering wheel angle and speed
Return positive revolving speed；
Actual speed and the steering wheel target based on obtained steering wheel return positive revolving speed and determine back positive current target value；
Based on described time positive current target value and driver's hand-power after pretreatment, final time positive goal electricity is determined
Stream；
When speed after pretreatment is greater than preset speed threshold value, corresponded to based on final positive goal electric current output of returning
Aligning torque.
Optionally, the speed and driver's hand-power are pre-processed using low-pass filtering；And
The steering wheel angle is pre-processed using kalman filter method, and the reality for obtaining the steering wheel turns
Speed.
Optionally, described based on required under pretreated steering wheel angle and the current steering wheel angle of speed calculating
Steering wheel target returns positive revolving speed：It is determined based on pretreated steering wheel angle and speed and preset time positive revolution counter
The steering wheel target returns positive revolving speed, and described preset time positive revolution counter characterizes scheduled steering wheel angle and speed and return positive speed
Corresponding relationship between degree.
Optionally, the actual speed based on obtained steering wheel and the steering wheel target are returned positive revolving speed and are determined back just
Current target value includes：
Actual speed and the steering wheel target to steering wheel return positive revolving speed and carry out PID control, obtain described time positive electricity
Flow target value.
Optionally, described to return positive current target value and driver's hand-power after pretreatment based on described, it determines finally
Returning positive goal electric current includes：
Make the positive current target value of returning as the increase of driver's hand-power after pretreatment is with preset variation relation
Decay, to obtain final time positive goal electric current.
Optionally, the steering wheel angle is collected in steering wheel angle sensor, and the speed data collection is in whole vehicle CAN
Message, driver's hand-power are collected in steering wheel torsion sensor.
Another embodiment of the present invention provides a kind of electric boosting steering system active rotary transform tensor systems, including：
Data acquisition module, for acquiring rotary transform tensor signal, the rotary transform tensor signal includes steering wheel angle, speed
With driver's hand-power；
Preprocessing module, for being located in advance using the first default preprocess method to the speed and driver's hand-power of acquisition
Reason, and the steering wheel angle of acquisition is pre-processed using the second default preprocess method, obtain the reality of current steering wheel
Border revolving speed；
Target returns positive speed determination module, determines current steering wheel angle based on pretreated steering wheel angle and speed
Under required steering wheel target return positive revolving speed；
Positive current target value determining module is returned, for actual speed and the steering wheel target based on obtained steering wheel
It returns positive revolving speed and determines back positive current target value；
Positive goal electric current determining module is finally returned, for returning positive current target value and driving after pretreatment based on described
Member's hand-power determines final time positive goal electric current；
Aligning torque control module, for being based on final when speed after pretreatment is greater than preset speed threshold value
The positive goal electric current that returns export corresponding aligning torque.
Optionally, the preprocessing module is used for：The speed and driver's hand-power are carried out using low-pass filtering
Pretreatment；And
The steering wheel angle is pre-processed using kalman filter method, and the reality for obtaining the steering wheel turns
Speed.
Optionally, the target is returned positive speed determination module and is used for：Based on pretreated steering wheel angle and speed, with
And preset time positive revolution counter determines that the steering wheel target returns positive revolving speed, described preset time positive revolution counter characterizes scheduled side
To disk corner and speed and return the corresponding relationship between positive speed.
Optionally, described time positive current target value determining module is used for：
Actual speed and the steering wheel target to steering wheel return positive revolving speed and carry out PID control, obtain described time positive electricity
Flow target value.
Compared with prior art, electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention and its
System has the following advantages that：
1. stability is strong：It, can be to avoid the mistake for returning positive status using the rotary transform tensor method without returning positive status judgement
Identification, improves the stability of entire electric boosting steering system.
2. comfort is good：It is not related to back just switching with the state of power-assisted, so that not power during entire steering operation
Mutation and fluctuation, the large increase comfort of electric boosting steering system.
Detailed description of the invention
Fig. 1 is the block schematic illustration of electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention；
Fig. 3 is the structural block diagram of electric boosting steering system active rotary transform tensor system provided in an embodiment of the present invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
Fig. 1 is the block schematic illustration of electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention.
As depicted in figs. 1 and 2, electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention includes
Following steps：
S100, acquisition rotary transform tensor signal, the rotary transform tensor signal includes steering wheel angle, speed and driver's hand
Power；
S110, it is pre-processed, and adopted using speed and driver's hand-power of the first default preprocess method to acquisition
The steering wheel angle of acquisition is pre-processed with the second default preprocess method, obtains the actual speed of current steering wheel；
S120, required steering wheel under current steering wheel angle is determined based on pretreated steering wheel angle and speed
Target returns positive revolving speed；
S130, positive current mesh is determined back based on the actual speed of obtained steering wheel and the positive revolving speed of the steering wheel target time
Scale value；
S140, it is based on time positive mesh for returning positive current target value and driver's hand-power after pretreatment, determining finally
Mark electric current；
S150, when speed after pretreatment is greater than preset speed threshold value, to return positive goal electric current defeated based on final
Corresponding aligning torque out.
Wherein, in the step s 100, steering wheel angle is collected in steering wheel angle sensor, in the present invention, using having
The control mode of steering wheel angle sensor obtains accurate hand-wheel angle signal by sensor, steering wheel can be improved
Return positive accuracy.In addition, speed data collection, in whole vehicle Can message, driver's hand-power is collected in steering wheel torque sensor.
In embodiments of the present invention, rotary transform tensor signal is acquired according to the preset sampling period, for example, the sampling period of speed can
For 10ms, the sampling period of steering wheel angle and driver's hand-power can be 1ms.
In step s 110, it is filtered using speed and driver hand-power of the low-pass filtering to acquisition, using card
Kalman Filtering method pre-processes the steering wheel angle, and obtains the actual speed of the steering wheel.Specifically, at this
In inventive embodiments, speed and driver's hand-power are pre-processed using low-pass first order filter, filter out the high frequency in signal
Interference, so that signal stabilization.Single order lowpass digital filter formula is：Y (n)=α X (n)+(1- α) Y (n-1), wherein α is filter
Wave system number, this sampled value of X (n), the i.e. value of the speed of this acquisition and driver's hand-power；Y (n-1) is last filtering output
Value, i.e., the speed of upper filtering output and the value of driver's hand-power；Y (n) is this filtering output value, i.e. this filtering exports
The value of speed and driver's hand-power.Filter coefficient alpha is related with filter cutoff frequency：FLThe π T of=α/2, wherein FLFor cutoff frequency, T
For the sampling period.
Generally, steering wheel angle can be carried out direct differentiation can get the revolving speed of current steering wheel, but the process of differential is drawn
A large amount of interference informations are entered, if generating phase delay, shadow using the steering wheel tach signal that interference will make is filtered out
The real-time of control is rung.Therefore, in embodiments of the present invention, the method estimation with the Kalman filtering of steering wheel angle is used
The actual speed of current steering wheel.Specifically, in step s 110, the reality of current steering wheel is estimated by kalman filter method
The realization process of border revolving speed is as follows：
Due to steering wheel angle be it is measurable, using corner, revolving speed, corner acceleration as state, can establish as follows
Separate manufacturing firms equation (hereinafter referred to as system)：
X (k)=Ax (k-1)+w (k)
Y (k)=Cx (k)+v (k)
In formula, x (k)=[θ (k), ω (k), a (k)]TFor the system mode at k moment, the i.e. steering wheel angle, vehicle at k moment
The value of speed and driver's hand-power；θ (k) is filtered steering wheel angle；ω (k) is the actual speed of current steering wheel, a (k)
For corner acceleration, can be estimated by kalman filter method；Y (k) is the measured value, that is, steering wheel angle measurement at k moment
Value.
For state matrix, corner, revolving speed, the mathematical relationship between angular acceleration are characterized,
Wherein, T is system communication cycle.
For calculation matrix, w (k) is process noise signal, and v (k) is measurement noise signal,
The two signals are that white Gaussian noise signal can be used in one example in definite value.
According to the corner of above-mentioned foundation, rotary speed system state equation, recurrence calculation is carried out using discrete kalman filter,
Calculation formula is as follows：
X (k | k-1)=Ax (k-1 | k-1)
P (k | k-1)=AP (k-1 | k-1) AT+Q
X (k | k)=Ax (k | k-1)+M (k) [y (k)-CAx (k | k-1)]
P (k | k)=[I-M (k) C] P (k | k-1)
In formula, M refers to kalman gain matrix；P refers to that the Minimum Mean Square Error matrix of quantity of state error, i.e. steering wheel turn
The Minimum Mean Square Error matrix at angle, speed and driver's hand-power；P (k-1 | k-1) was the excellent of the Minimum Mean Square Error matrix in a upper period
Change value；P (k | k-1) it was estimated value of this period according to the optimal value of the Minimum Mean Square Error matrix in a upper period；P (k | k) refer to this
The optimal value of the Minimum Mean Square Error matrix in period；X (k | k-1) for according to the estimated value of the system mode optimal value in a upper period；For the covariance matrix of system interference noise；For the covariance matrix for measuring noise.
The calculated result that above-mentioned five equations are successively iterated calculating can estimate the optimal side in each sampling period
To disk rotating speed state value, i.e., the actual speed of current steering wheel.
In the step s 120, it can be determined based on pretreated steering wheel angle and speed and preset time positive revolution counter
The steering wheel target returns positive revolving speed, and described preset time positive revolution counter characterizes scheduled steering wheel angle and speed and return positive speed
Corresponding relationship between degree.In practice, preset time positive revolution counter can be demarcated by real vehicle, specifically can be by turning to steering wheel
Angle and speed carry out P and control to obtain, and can table look-up for two dimension, and abscissa can be steering wheel angle, and ordinate can be speed, Mei Gefang
One, which can be corresponded to, to disk corner and speed returns positive speed.
In step s 130, to direction obtained in the actual speed of steering wheel obtained in step S110 and step S120
Disk target returns positive revolving speed and carries out PID control, obtains described time positive current target value.PID controller (proportional integral differential control
Device) it is a common feedback loop component in Industry Control Application, by proportional unit P, integral unit I and differentiation element D
Composition.The basis of PID control is ratio control；Integration control can eliminate steady-state error, but can increase overshoot；Differential control can
Accelerate Great inertia system response speed and weakens overshoot trend.The rotary transform tensor positive to steering wheel return generally comprises in two aspects
Hold：First is that enabling steering wheel accurate in low speed and being turning quickly back to middle position, second is that providing damping, the side of avoiding in high speed
Positive overshoot is returned to disk.Pid control algorithm can will return just and damping control combines, and implementation is as follows：
Wherein, ωtIt is that steering wheel target returns positive revolving speed, ωsReality for the current steering wheel of Kalman Filter Estimation turns
Speed, Kp、Ki、KdRespectively pid control parameter, ItargetTo return positive current target value.
According to the characteristic of PID control, the ratio and integral part main function of above formula are to generate back positive current, that is, the side of execution
To the rotary transform tensor of disk, and differential part is primarily used to generate damping, the positive excess tune of anti-non-return when running at high speed.PID control
The setting of parameter can be obtained by engineering method and real vehicle calibration, can make steering wheel can accurately be into the closed-loop control of revolving speed
It goes back just, guarantees the control stability and safety of vehicle, in one example, KpIt can be 0.03, KiIt can be 0.02, KdCan be
0.01。
In step S140, be related to decaying to returning positive goal electric current, specifically make it is described return positive current target value with
The increase of driver's hand-power after pretreatment is decayed with preset variation relation, to obtain final time positive goal electricity
Stream.Since the rotary transform tensor in the control method of the embodiment of the present invention is executing always as long as speed is greater than threshold value, not area
Point being driver is returning just beating steering wheel or steering wheel, i.e., the judgement without time positive operating condition, the rotary transform tensor of steering wheel
It is acted on simultaneously with Power assisted control, if pilot control wheel steering (when needing Power assisted control), not to rotary transform tensor electricity
Stream is decayed, that will generate the opposite power of driver's steering direction, is hindered driver's operation, is increased the steering of driver
Torque, it is therefore desirable to decay to positive goal electric current is returned, reduce influence of the aligning torque to normal direction of rotation.Due to driver's hand
Force signal can accurately judge whether driver is carrying out steering operation very much, and when returning positive operation almost without driving
The effect of member's hand-power, therefore can will return positive current target value and be done with the increase of driver's hand-power and be decayed, aligning torque can be reduced
The influence that driver is turned to.Return positive current target value with driver's hand-power variation relation can according to carry out real vehicle calibration, by
Testing crew is modified curve form according to feel is turned to, and is preferred with the steering feel for obtaining pleasant.In practice,
The relationship returned between positive current target value and driver's hand-power can be obtained by preset relation table, which can be one-dimensional
Table, in the dimensional table, driver's hand-power can correspond to a coefficient, and then will return positive current target value can multiplied by the coefficient
Obtain final time positive goal electric current.
In step S150, it is related to carrying out drive control to assist motor.It is greater than in speed after pretreatment preset
When speed threshold value, control motor follows the positive goal electric current that returns final obtained in step S140, i.e., based on final
Returning positive goal electric current makes motor export suitable aligning torque, reasonably returns to middle position to control steering wheel.That is,
Electric boosting steering system active rotary transform tensor method provided in an embodiment of the present invention is related to back positive making can control.Due to vehicle
Steering wheel self-aligning is not needed when in situ or pole runs at a low speed steering, therefore in the present invention, setting one is returned positive speed
Threshold value, general value are 5,000 ms/h, only when speed is greater than this value, rotary transform tensor ability proper function, i.e., according to most
The whole positive goal electric current that returns exports corresponding aligning torque, and when speed is less than or equal to threshold value, rotary transform tensor does not work.
Based on the same inventive concept, the embodiment of the invention also provides a kind of electric boosting steering system active rotary transform tensors
System, since the principle of the solved problem of the system is similar to aforementioned control method, before the implementation of the system may refer to
The implementation of method is stated, overlaps will not be repeated.
As shown in figure 3, electric boosting steering system active rotary transform tensor system provided in an embodiment of the present invention includes：
Data acquisition module 201, for acquiring rotary transform tensor signal, the rotary transform tensor signal include steering wheel angle,
Speed and driver's hand-power；
Preprocessing module 202, for being carried out using speed and driver hand-power of the first default preprocess method to acquisition
Pretreatment, and the steering wheel angle of acquisition is pre-processed using the second default preprocess method, obtain current steering wheel
Actual speed；
Target returns positive speed determination module 203, determines current steering wheel based on pretreated steering wheel angle and speed
Required steering wheel target returns positive revolving speed under corner；
Return positive current target value determining module 204, for based on obtained steering wheel actual speed and the steering wheel
Target returns positive revolving speed and determines back positive current target value；
Positive goal electric current determining module 205 is finally returned, for based on the positive current target value and after pretreatment of returning
Driver's hand-power determines final time positive goal electric current；
Aligning torque control module 206, for being based on most when speed after pretreatment is greater than preset speed threshold value
The whole positive goal electric current that returns exports corresponding aligning torque.
Further, the preprocessing module 202 is used for：Using low-pass filtering to the speed and driver's hand-power
It is pre-processed；And
The steering wheel angle is pre-processed using kalman filter method, and the reality for obtaining the steering wheel turns
Speed.
Further, the target is returned positive speed determination module 203 and is used for：Based on pretreated steering wheel angle and vehicle
Speed and preset time positive revolution counter determine that the steering wheel target returns positive revolving speed, and described preset time positive revolution counter characterization is pre-
Corresponding relationship between fixed steering wheel angle and speed and time positive speed.
Further, described time positive current target value determining module 204 is used for：
Actual speed and the steering wheel target to steering wheel return positive revolving speed and carry out PID control, obtain described time positive electricity
Flow target value.
Further, the positive goal electric current determining module 205 of finally returning is used for：
Make the positive current target value of returning as the increase of driver's hand-power after pretreatment is with preset variation relation
Decay, to obtain final time positive goal electric current.
Further, the data acquisition module 201 is used for：Steering wheel angle is acquired from steering wheel angle sensor, from
Whole vehicle CAN message acquires speed, acquires driver's hand-power from steering wheel torsion sensor.
The function of above-mentioned each module can correspond to the respective handling step in process shown in Fig. 1 to Fig. 2, no longer superfluous herein
It states.
Embodiment described above, only a specific embodiment of the invention, to illustrate technical solution of the present invention, rather than
It is limited, scope of protection of the present invention is not limited thereto, although having carried out with reference to the foregoing embodiments to the present invention detailed
Illustrate, those skilled in the art should understand that：Anyone skilled in the art the invention discloses
In technical scope, it can still modify to technical solution documented by previous embodiment or variation can be readily occurred in, or
Person's equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make corresponding technical solution
Essence is detached from the spirit and scope of technical solution of the embodiment of the present invention, should be covered by the protection scope of the present invention.Therefore,
The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of electric boosting steering system active rotary transform tensor method, which is characterized in that including：
Rotary transform tensor signal is acquired, the rotary transform tensor signal includes steering wheel angle, speed and driver's hand-power；
It is pre-processed using speed and driver hand-power of the first default preprocess method to acquisition, and default using second
Preprocess method pre-processes the steering wheel angle of acquisition, obtains the actual speed of current steering wheel；
Determine that required steering wheel target is returned just under current steering wheel angle based on pretreated steering wheel angle and speed
Revolving speed；
Actual speed and the steering wheel target based on obtained steering wheel return positive revolving speed and determine back positive current target value；
Based on described time positive current target value and driver's hand-power after pretreatment, final time positive goal electric current is determined；
When speed after pretreatment is greater than preset speed threshold value, exported corresponding time based on the final positive goal electric current that returns
Positive moment.
2. electric boosting steering system active rotary transform tensor method according to claim 1, which is characterized in that use low pass
Filtering pre-processes the speed and driver's hand-power；And
The steering wheel angle is pre-processed using kalman filter method, and obtains the actual speed of the steering wheel.
3. electric power steering system control method according to claim 1, which is characterized in that described to be based on after pre-processing
Steering wheel angle and speed calculate required steering wheel target under current steering wheel angle and return positive revolving speed and include：Based on pre- place
Steering wheel angle and speed and preset time positive revolution counter after reason determine that the steering wheel target returns positive revolving speed, described default
Return positive revolution counter characterize scheduled steering wheel angle and speed and return positive speed between corresponding relationship.
4. electric boosting steering system active rotary transform tensor method according to claim 1, which is characterized in that described to be based on
The actual speed of obtained steering wheel returns positive revolving speed with the steering wheel target and determines back that positive current target value includes：
Actual speed and the steering wheel target to steering wheel return positive revolving speed and carry out PID control, obtain described time positive current mesh
Scale value.
5. electric boosting steering system active rotary transform tensor method according to claim 1, which is characterized in that described to be based on
Described time positive current target value and driver's hand-power after pretreatment determine that the final positive goal electric current that returns includes：
Make the positive current target value of returning as the increase of driver's hand-power after pretreatment is with the progress of preset variation relation
Decaying, to obtain final time positive goal electric current.
6. electric boosting steering system according to claim 1 actively returns positive control method, which is characterized in that the side
It is collected in steering wheel angle sensor to disk corner, the speed data collection is adopted in whole vehicle CAN message, driver's hand-power
Combine in steering wheel torsion sensor.
7. a kind of electric boosting steering system active rotary transform tensor system, which is characterized in that including：
Data acquisition module, for acquiring rotary transform tensor signal, the rotary transform tensor signal includes steering wheel angle, speed and drives
The person's of sailing hand-power；
Preprocessing module, for being pre-processed using the first default preprocess method to the speed and driver's hand-power of acquisition,
And the steering wheel angle of acquisition is pre-processed using the second default preprocess method, the reality for obtaining current steering wheel turns
Speed；
Target returns positive speed determination module, determines institute under current steering wheel angle based on pretreated steering wheel angle and speed
The steering wheel target of demand returns positive revolving speed；
Positive current target value determining module is returned, is returned just for the actual speed based on obtained steering wheel with the steering wheel target
Revolving speed determines back positive current target value；
Positive goal electric current determining module is finally returned, for returning positive current target value and driver's hand after pretreatment based on described
Power determines final time positive goal electric current；
Aligning torque control module, for being returned based on final when speed after pretreatment is greater than preset speed threshold value
Positive goal electric current exports corresponding aligning torque.
8. electric boosting steering system active rotary transform tensor system according to claim 7, which is characterized in that the pre- place
Reason module is used for：The speed and driver's hand-power are pre-processed using low-pass filtering；And
The steering wheel angle is pre-processed using kalman filter method, and obtains the actual speed of the steering wheel.
9. electric boosting steering system active rotary transform tensor system according to claim 7, which is characterized in that the target
Positive speed determination module is returned to be used for：It is determined based on pretreated steering wheel angle and speed and preset time positive revolution counter
The steering wheel target returns positive revolving speed, and described preset time positive revolution counter characterizes scheduled steering wheel angle and speed and return positive speed
Corresponding relationship between degree.
10. electric boosting steering system active rotary transform tensor system according to claim 7, which is characterized in that described time
Positive current target value determining module is used for：
Actual speed and the steering wheel target to steering wheel return positive revolving speed and carry out PID control, obtain described time positive current mesh
Scale value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628064.4A CN108860294B (en) | 2018-06-19 | 2018-06-19 | Active aligning control method and system for electric power steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810628064.4A CN108860294B (en) | 2018-06-19 | 2018-06-19 | Active aligning control method and system for electric power steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108860294A true CN108860294A (en) | 2018-11-23 |
| CN108860294B CN108860294B (en) | 2021-04-06 |
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| CN110406591A (en) * | 2019-08-13 | 2019-11-05 | 北京经纬恒润科技有限公司 | A kind of vehicle actively returns correction method and system |
| CN110816654A (en) * | 2019-08-08 | 2020-02-21 | 中国第一汽车股份有限公司 | Signal estimation method, device, vehicle and storage medium |
| CN111688796A (en) * | 2020-05-25 | 2020-09-22 | 大连创新零部件制造公司 | Active aligning control method based on relative position angle |
| CN111873991A (en) * | 2020-07-22 | 2020-11-03 | 中国第一汽车股份有限公司 | Vehicle steering control method, device, terminal and storage medium |
| CN112026911A (en) * | 2020-08-28 | 2020-12-04 | 北京汽车股份有限公司 | Steering power assistance compensation method and device and vehicle |
| CN112744289A (en) * | 2021-02-24 | 2021-05-04 | 华晨鑫源重庆汽车有限公司 | Steering power-assisted control method for anti-interference signals |
| CN113104100A (en) * | 2021-05-27 | 2021-07-13 | 清华大学 | Control method and system for energy-saving intelligent electro-hydraulic steering system |
| CN113942565A (en) * | 2021-10-14 | 2022-01-18 | 江门市兴江转向器有限公司 | Steering wheel alignment method and device and readable storage medium |
| CN114312980A (en) * | 2020-10-09 | 2022-04-12 | 长城汽车股份有限公司 | Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle |
| WO2024065081A1 (en) * | 2022-09-26 | 2024-04-04 | 宁德时代新能源科技股份有限公司 | Vehicle control method and related apparatus |
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| CN111688796A (en) * | 2020-05-25 | 2020-09-22 | 大连创新零部件制造公司 | Active aligning control method based on relative position angle |
| CN111688796B (en) * | 2020-05-25 | 2021-02-19 | 大连创新零部件制造公司 | Active aligning control method based on relative position angle |
| CN111873991A (en) * | 2020-07-22 | 2020-11-03 | 中国第一汽车股份有限公司 | Vehicle steering control method, device, terminal and storage medium |
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| CN114312980A (en) * | 2020-10-09 | 2022-04-12 | 长城汽车股份有限公司 | Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle |
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| CN113104100A (en) * | 2021-05-27 | 2021-07-13 | 清华大学 | Control method and system for energy-saving intelligent electro-hydraulic steering system |
| CN113942565A (en) * | 2021-10-14 | 2022-01-18 | 江门市兴江转向器有限公司 | Steering wheel alignment method and device and readable storage medium |
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