CN109131539A - Steering system control method, device and automobile - Google Patents
Steering system control method, device and automobile Download PDFInfo
- Publication number
- CN109131539A CN109131539A CN201810829912.8A CN201810829912A CN109131539A CN 109131539 A CN109131539 A CN 109131539A CN 201810829912 A CN201810829912 A CN 201810829912A CN 109131539 A CN109131539 A CN 109131539A
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- steering
- vehicle speed
- torque
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The present invention provides a kind of steering system control method, device and automobile.Wherein, the steering system control method, it include: the corner for first obtaining steering wheel, and judge whether the corner of steering wheel is greater than predetermined angle, then, when the corner for determining steering wheel is greater than predetermined angle, obtain the angular speed variation of current vehicle speed, the moment variations of steering wheel and steering wheel, finally, changed according to the angular speed of current vehicle speed, the moment variations of steering wheel and steering wheel, the electric current for adjusting electric power-aid steering electric machine, so that the moment difference of the torque of diverter and steering wheel is within a preset range.Steering system control method provided by the invention efficiently controls the fluctuation of steering system torque, promotes the control stability and comfort of vehicle.
Description
Technical field
The present invention relates to motor turning control technology field more particularly to a kind of steering system control methods, device
And automobile.
Background technique
As automobile is more more and more universal, people are also higher and higher to the stability of automobile, the requirement of comfort, handling maneuver
The quality of system is to influence a key factor of stability of automobile, comfort.And with automotive circuit diagram, intelligentized hair
Exhibition, more and more Automobile Enterprises start research and development, applying electronic servo steering system promotes the handling of automobile.
The steering system of existing maturation vehicle needs to turn to behaviour for the control stability and comfort for improving vehicle
Vertical system steering yoke selects suitable phase angle to guarantee under any operating condition as far as possible, and the torque of jackshaft transmits fluctuation
Within the acceptable range.Due to arrangement, steering system should guarantee that vehicle control stability meets design
It is required that while the arrangement of tubing string and steering wheel be also required to meet the human engineering condition of laws and regulations requirement, which is difficult simultaneously
It meets the requirements.
As it can be seen that steering drive axle can not expire due to being influenced by vehicle arrangement space and steering column, diverter position
Sufficient constant speed requirement.And the variable speed being driven can not only impact the angular speed of output shaft, it is often more important that can cause
The fluctuation and vibration of torque, to influence the control stability and comfort of vehicle.
Summary of the invention
The embodiment of the present invention provides a kind of steering system control method, device and automobile, is turned to efficiently controlling
The fluctuation of steerable system torque, to promote the control stability and comfort of vehicle.
In a first aspect, the present invention provides a kind of steering system control method, it is applied to steering system, described turn
It include: steering wheel, steering shaft, electric power-aid steering electric machine, deceleration mechanism, jackshaft, diverter, the steering to steerable system
One end of axis is connect with the steering wheel, and the other end is connect with the deceleration mechanism, one end of the jackshaft and the deceleration
Mechanism connection, the other end are connect with the diverter, and the electric power-aid steering electric machine is connect with the deceleration mechanism；The side
Method includes:
The corner of the steering wheel is obtained, and judges whether the corner of the steering wheel is greater than predetermined angle；
When the corner for determining the steering wheel is greater than predetermined angle, current vehicle speed is obtained, the torque of the steering wheel becomes
Change and the angular speed of the steering wheel changes；
Changed according to the angular speed of the current vehicle speed, the moment variations of the steering wheel and the steering wheel, adjustment
The electric current of the electric power-aid steering electric machine, so that the moment difference of the torque of the diverter and the steering wheel is default
In range.
It is described according to the current vehicle speed, moment variations of the steering wheel and described in a kind of possible design
The angular speed of steering wheel changes, and adjusts the electric current of the electric power-aid steering electric machine, comprising:
Obtain vehicle speed range belonging to the current vehicle speed, wherein vehicle speed range belonging to the current vehicle speed is specially
One in low speed vehicle speed range, middling speed vehicle speed range and high speed vehicle speed range；
According to the angle of vehicle speed range belonging to the current vehicle speed, the moment variations of the steering wheel and the steering wheel
Velocity variations adjust the electric current of the electric power-aid steering electric machine.
In a kind of possible design, the power of the vehicle speed range according to belonging to the current vehicle speed, the steering wheel
Square variation and the angular speed variation of the steering wheel, adjust the electric current of the electric power-aid steering electric machine, comprising:
If vehicle speed range belonging to the current vehicle speed is low speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the first default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the first default angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
In a kind of possible design, the power of the vehicle speed range according to belonging to the current vehicle speed, the steering wheel
Square variation and the angular speed variation of the steering wheel, adjust the electric current of the electric power-aid steering electric machine, further includes:
If vehicle speed range belonging to the current vehicle speed is middling speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the second default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the second default angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
In a kind of possible design, the power of the vehicle speed range according to belonging to the current vehicle speed, the steering wheel
Square variation and the angular speed variation of the steering wheel, adjust the electric current of the electric power-aid steering electric machine, further includes:
If vehicle speed range belonging to the current vehicle speed is high speed vehicle speed range, the moment variations of the steering wheel are judged
Whether it is greater than third and presets torque；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than third preset angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
In a kind of possible design, the angular speed of the moment variations for obtaining the steering wheel and the steering wheel
Variation, comprising:
The torque of the multiple directions disk in preset duration before acquisition current time and the angular speed of multiple directions disk；
Maximum steering wheel torque and minimum steering wheel torque are determined in the torque of the multiple steering wheel, by the maximum
Moment variations of the difference of steering wheel torque and the minimum steering wheel torque as the steering wheel；
Maximum steering wheel angular velocity and minimum steering wheel angular velocity are determined in the angular speed of the multiple steering wheel, by institute
The difference for stating maximum steering wheel angular velocity and the minimum steering wheel angular velocity changes as the steering wheel angular velocity.
In a kind of possible design, after the electric current of the adjustment electric power-aid steering electric machine, the method is also
Include:
According to the torque of the steering wheel at the current time and the adjusted value of the electric current of the electric power-aid steering electric machine,
Determine the corresponding equivalent control torque of the electric current；
The torque for obtaining the steering wheel of subsequent time judges the torque and the equivalent control of the steering wheel of the subsequent time
Whether the difference of torque processed is greater than default torque, if so, adjusting the electric current of the electric power-aid steering electric machine.
Second aspect, the present invention also provides a kind of steering system control devices, are applied to steering system, described
Steering system includes: steering wheel, steering shaft, electric power-aid steering electric machine, deceleration mechanism, jackshaft, diverter, and described turn
It is connect to one end of axis with the steering wheel, the other end is connect with the deceleration mechanism, and one end of the jackshaft subtracts with described
Fast mechanism connection, the other end are connect with the diverter, and the electric power-aid steering electric machine is connect with the deceleration mechanism；It is described
Device includes:
Module is obtained, for obtaining the corner of the steering wheel, and it is default to judge whether the corner of the steering wheel is greater than
Angle；
The acquisition module is also used to when the corner for determining the steering wheel is greater than predetermined angle, acquisition current vehicle speed,
The variation of the angular speed of the moment variations of the steering wheel and the steering wheel；
Module is adjusted, for according to the moment variations of the current vehicle speed, the steering wheel and the angle of the steering wheel
Velocity variations adjust the electric current of the electric power-aid steering electric machine, so that the torque of the diverter and the steering wheel
Moment difference is within a preset range.
In a kind of possible design, the acquisition module is also used to obtain vehicle speed range belonging to the current vehicle speed,
Wherein, vehicle speed range belonging to the current vehicle speed is specially low speed vehicle speed range, middling speed vehicle speed range and high speed speed model
One in enclosing；
The adjustment module is also used to the vehicle speed range according to belonging to the current vehicle speed, the torque of the steering wheel becomes
Change and the angular speed of the steering wheel changes, adjusts the electric current of the electric power-aid steering electric machine.
In a kind of possible design, the adjustment module is specifically used for:
If vehicle speed range belonging to the current vehicle speed is low speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the first default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the first angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting then.
In a kind of possible design, the adjustment module is specifically also used to:
If vehicle speed range belonging to the current vehicle speed is middling speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the second default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the second angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting then.
In a kind of possible design, the adjustment module is specifically also used to:
If vehicle speed range belonging to the current vehicle speed is high speed vehicle speed range, the moment variations of the steering wheel are judged
Whether it is greater than third and presets torque；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than third angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting then.
In a kind of possible design, the acquisition module is specifically used for:
The torque of the multiple directions disk in preset duration before acquisition current time and the angular speed of multiple directions disk；
Maximum steering wheel torque and minimum steering wheel torque are determined in the torque of the multiple steering wheel, by the maximum
Moment variations of the difference of steering wheel torque and the minimum steering wheel torque as the steering wheel；
Maximum steering wheel angular velocity and minimum steering wheel angular velocity are determined in the angular speed of the multiple steering wheel, by institute
The difference for stating maximum steering wheel angular velocity and the minimum steering wheel angular velocity changes as the steering wheel angular velocity.
In a kind of possible design, described device, further includes:
Determining module, for according to the torque of the steering wheel at the current time and the electric power-aid steering electric machine
The adjusted value of electric current determines the corresponding equivalent control torque of the electric current；
The adjustment module, is also used to obtain the torque of the steering wheel of subsequent time, judges the direction of the subsequent time
Whether the torque of disk and the difference of equivalent control torque are greater than default torque, if so, adjusting the electric power steering
The electric current of motor.
The third aspect, the present invention also provides a kind of automobiles, comprising: the possible handling maneuver system of any one in second aspect
System control device.
The present invention provides a kind of steering system control method, device and automobile, by obtaining the corner of steering wheel, and
When the corner of steering wheel is greater than predetermined angle, current vehicle speed, the moment variations of steering wheel and steering wheel are further obtained
Angular speed variation so that electronic control unit is according to the angle of current vehicle speed, the moment variations of steering wheel and steering wheel speed
Degree variation, adjusts the electric current of electric power-aid steering electric machine, so that the moment difference of the torque of diverter and steering wheel is default
In range, to efficiently control the fluctuation of steering system torque, the control stability and comfort of vehicle are promoted.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural representation of steering system applied by steering system control method provided by the invention
Figure；
Fig. 2 is the flow chart of present invention steering system control method shown according to an exemplary embodiment；
Fig. 3 is the flow chart for the steering system control method that the present invention is shown according to another exemplary embodiment；
Fig. 4 is the structural schematic diagram according to the steering system control device shown in an exemplary embodiment；
Fig. 5 is the structural schematic diagram according to the steering system control device shown in another exemplary embodiment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the structural representation of steering system applied by steering system control method provided by the invention
Figure.As shown in Figure 1, the steering system in the present embodiment, comprising:
Steering wheel 11, steering shaft 12, electric power-aid steering electric machine 13, deceleration mechanism 14, jackshaft 15, diverter 16 turn
It is connect to one end of axis 12 with steering wheel 11, the other end is connect with deceleration mechanism 14, one end of jackshaft 15 and deceleration mechanism 14
Connection, the other end are connect with diverter 12, and electric power-aid steering electric machine 13 is connect with deceleration mechanism 14.
Fig. 2 is the flow chart of present invention steering system control method shown according to an exemplary embodiment.Such as Fig. 2
It is shown, steering system control method provided in this embodiment, comprising:
Step 101, the corner for obtaining steering wheel, and judge whether the corner of steering wheel is greater than predetermined angle.
Specifically, the corner of steering wheel can be obtained by steering wheel angle sensor, wherein steering wheel angle sensor
Be the important composition component of automobile electric control system, be typically mounted in the steering column below steering wheel, generally by CAN bus and
PCM is connected, and provides the corner and turn signal of steering wheel for automobile electronic stabilization system and headlight follow-up steering.With automobile electricity
Sub- systems stabilisation and this two technologies of headlight follow-up steering are universal on automobile, and the demand of steering wheel angle sensor also exists
Constantly rise.Steering wheel angle sensor has a variety of patterns such as photoelectric induction type, electric resistance partial pressure type, induction in the market.
Usually used steering wheel angle sensor uses the mechanical structure of three gears, come the circle number for measuring corner He turning over.Canine tooth
Wheel is rotated together with steering wheel tubular pipe, and two pinion gear numbers of teeth differ 1, is fixed on together with steering wheel angle sensor shell
Vehicle body is not rotated with steering wheel and is rotated.Two pinion gears collect the corner rotated with steering wheel respectively, due to difference one
Tooth, different circle numbers will differ specific angle, and the absolute corner of steering wheel is obtained by calculation.
After getting the corner of steering wheel, and judge whether the corner of steering wheel is greater than predetermined angle.Wherein, it presets
Angle can be demarcated according to actual vehicle condition and driving status, for example, the predetermined angle can be ± 5 °, work as direction
When the corner of disk is greater than ± 5 °, subsequent judgement is carried out, and when the corner of steering wheel is not more than ± 5 °, then without subsequent
Judgement.It is worth explanation, the size of predetermined angle is not carried out in the present embodiment specifically defined.
Step 102, the corner for determining steering wheel be greater than predetermined angle when, obtain current vehicle speed, the torque of steering wheel become
Change and the angular speed of steering wheel changes.
Specifically, it when the corner for determining steering wheel is greater than predetermined angle, further needs to obtain current vehicle speed, direction
The moment variations of disk and the angular speed variation of steering wheel.
Wherein it is possible to obtain current vehicle speed by vehicle speed sensor, wherein the output signal of vehicle speed sensor can be magnetic
Electric-type AC signal is also possible to Hall-type digital signal either photoelectric digital signal, vehicle speed sensor and is typically mounted on
In driving axle housing or transmission case, magneto-electric and photo-electric vehicle speed sensor are using most two kinds of speeds sensings on automobile
Device.
The moment variations of steering wheel can be obtained by torque sensor, wherein torque sensor mainly has potentiometer type
Torque sensor, metal resistance strain gauge formula torque sensor, non-contact torque sensor etc..
Furthermore, it is possible to obtain the corner within the unit time of steering wheel by rotary angle transmitter, adjacent two are then calculated
The difference of corner in a preset time takes the difference as the angular speed changing value of steering wheel.For example, the preset time can be
20ms, but it is not specifically defined to preset time progress in the present embodiment, it can be according to required by actual operating condition
Precision is determined.
Step 103 changes according to the angular speed of current vehicle speed, the moment variations of steering wheel and steering wheel, adjusts electronic
The electric current of power-assisted steering motor.
Then, electronic control unit changes according to the angular speed of current vehicle speed, the moment variations of steering wheel and steering wheel,
The electric current for adjusting electric power-aid steering electric machine, so that the moment difference of the torque of diverter and steering wheel is within a preset range.
When steering wheel angular velocity variation is excessive, i.e., steering system is in the excessive state of steering system torque fluctuations, adjusts at this time electronic
The electric current of power-assisted steering motor, so that the power-assisted electric current that steering system output is suitable, to export stable steering wheel
Torque and angular speed, and reduce the fluctuation of steering system torque, improve the control stability and comfort of vehicle.
In the present embodiment, by obtaining the corner of steering wheel, and when the corner of steering wheel is greater than predetermined angle, into one
Step ground obtains the angular speed variation of current vehicle speed, the moment variations of steering wheel and steering wheel, so that electronic control unit root
Change according to the angular speed of current vehicle speed, the moment variations of steering wheel and steering wheel, adjust the electric current of electric power-aid steering electric machine,
So that diverter torque and steering wheel moment difference within a preset range, to efficiently control steering system power
The fluctuation of square promotes the control stability and comfort of vehicle.
Fig. 3 is the flow chart for the steering system control method that the present invention is shown according to another exemplary embodiment.Such as
Shown in Fig. 3, steering system control method provided in this embodiment, comprising:
Step 201, the corner for obtaining steering wheel, and judge whether the corner of steering wheel is greater than predetermined angle.
Step 202, the corner for determining steering wheel be greater than predetermined angle when, obtain current vehicle speed, the torque of steering wheel become
Change and the angular speed of steering wheel changes.
It is worth explanatorily, the specific implementation of step 201-202 is referring to step 101-102 in embodiment illustrated in fig. 2
Description, which is not described herein again.
Step 203 obtains vehicle speed range belonging to current vehicle speed.
Obtain vehicle speed range belonging to current vehicle speed, wherein vehicle speed range belonging to current vehicle speed is specially low speed speed
One in range, middling speed vehicle speed range and high speed vehicle speed range.
Specifically, low speed speed may range from 0-30km/h, and middling speed vehicle speed range can be 30-100km/h, and high
Fast vehicle speed range can be for greater than 100km/h.After obtaining current vehicle speed by vehicle speed sensor, by current vehicle speed and each vehicle
Fast range is compared, to determine specific vehicle speed range belonging to current vehicle speed.It is worth explanation, in the present embodiment, not
It is specifically defined to the boundary value progress of each vehicle speed range, it can be carried out according to the demand in the practical calibration process of vehicle corresponding
Setting.
If the affiliated vehicle speed range of current vehicle speed is low speed vehicle speed range, step 204 is executed；If the affiliated speed of current vehicle speed
When range is middling speed vehicle speed range, step 205 is executed；If the affiliated vehicle speed range of current vehicle speed is high speed vehicle speed range, execute
Step 206.
Step 204 judges whether the moment variations of steering wheel are greater than the first default torque.
Specifically, the affiliated vehicle speed range of current vehicle speed be low speed vehicle speed range when, such as current vehicle speed 0-30km/h it
Between, then judging whether the moment variations of steering wheel are greater than the first default torque, wherein the first default torque can be 0.2Nm,
It is worth explanation, in the present embodiment the specific value of torque default for first and without specifically defined.
If the determination result is YES, 2043 are thened follow the steps；If judging result be it is no, then follow the steps 2041.
Step 2041 judges whether the angular speed variation of steering wheel is greater than the first default angular speed.
Specifically, judge whether the angular speed variation of steering wheel is greater than the first default angular speed, wherein the first preset angle speed
Degree can be 0.8rad/s, be worth explanation, in the present embodiment the specific value of angular speed default for first and without
It is specifically defined.
If the determination result is YES, 2042 are thened follow the steps；If judging result be it is no, then follow the steps 2043.
Step 2042, the electric current for not adjusting electric power-aid steering electric machine.
Step 2043, the electric current for adjusting electric power-aid steering electric machine.
When the angular speed variation that the moment variations of steering wheel are greater than the first default torque or steering wheel is greater than first in advance
If when angular speed, i.e., steering system is in the excessive state of steering system torque fluctuations, electric power-aid steering electric machine is adjusted at this time
Electric current exports and power-assisted electric current is suitble to improve the control stability and comfort of vehicle to reduce steering system torque fluctuations.
Step 205 judges whether the moment variations of steering wheel are greater than the second default torque.
Specifically, when the affiliated vehicle speed range of current vehicle speed is middling speed vehicle speed range, such as current vehicle speed is in 30-100km/h
Between, then judge whether the moment variations of steering wheel are greater than the second default torque, wherein the second default torque can be 0.1N
M is worth explanatorily, in the present embodiment the specific value of torque default for second and without specifically defined.
If the determination result is YES, 2053 are thened follow the steps；If judging result be it is no, then follow the steps 2051.
Step 2051 judges whether the angular speed variation of steering wheel is greater than the second default angular speed.
Specifically, judge whether the angular speed variation of steering wheel is greater than the second default angular speed, wherein the second preset angle speed
Degree can be 0.5rad/s, be worth explanatorily, in the present embodiment the specific value of angular speed default for second and without
It is specifically defined.
If the determination result is YES, 2052 are thened follow the steps；If judging result be it is no, then follow the steps 2053.
Step 2052, the electric current for not adjusting electric power-aid steering electric machine.
Step 2053, the electric current for adjusting electric power-aid steering electric machine.
When the angular speed variation that the moment variations of steering wheel are greater than the second default torque or steering wheel is greater than second in advance
If when angular speed, i.e., steering system is in the excessive state of steering system torque fluctuations, electric power-aid steering electric machine is adjusted at this time
Electric current exports and power-assisted electric current is suitble to improve the control stability and comfort of vehicle to reduce steering system torque fluctuations.
Step 206 judges whether the moment variations of steering wheel are greater than third and preset torque.
Specifically, the affiliated vehicle speed range of current vehicle speed be high speed vehicle speed range when, such as current vehicle speed 100km/h with
On, then judge whether the moment variations of steering wheel are greater than third and preset torque, wherein it can be 0.05N that third, which presets torque,
M is worth explanatorily, presetting the specific value of torque for third in the present embodiment and without specifically defined.
If the determination result is YES, 2063 are thened follow the steps；If judging result be it is no, then follow the steps 2061.
Step 2061 judges whether the angular speed variation of steering wheel is greater than third and presets angular speed.
Specifically, judge whether the angular speed variation of steering wheel is greater than third and presets angular speed, wherein third angular speed can
Think 0.2rad/s, is worth explanatorily, presetting the specific value of angular speed for third in the present embodiment and without specific
Ground limits.
If the determination result is YES, 2062 are thened follow the steps；If judging result be it is no, then follow the steps 2063.
Step 2062, the electric current for not adjusting electric power-aid steering electric machine.
Step 2063, the electric current for adjusting electric power-aid steering electric machine.
When the angular speed variation that the moment variations of steering wheel are greater than the default torque of third or steering wheel is pre- greater than third
If when angular speed, i.e., steering system is in the excessive state of steering system torque fluctuations, electric power-aid steering electric machine is adjusted at this time
Electric current exports and power-assisted electric current is suitble to improve the control stability and comfort of vehicle to reduce steering system torque fluctuations.
Compared to embodiment illustrated in fig. 2, in the present embodiment, for the safety and stabilization for guaranteeing the vehicle when running at high speed
Property, by setting torque fluctuations and angular velocity fluctuation threshold values under different vehicle speed ranges, thus reduce steering system torque fluctuations,
Improve the control stability and comfort of vehicle.
Fig. 4 is the structural schematic diagram according to the steering system control device shown in an exemplary embodiment.
As shown in figure 4, steering system control device provided in this embodiment, comprising:
Module 301 is obtained, for obtaining the corner of the steering wheel, and it is pre- to judge whether the corner of the steering wheel is greater than
If angle；
The acquisition module 301 is also used to when the corner for determining the steering wheel is greater than predetermined angle, and front truck is worked as in acquisition
The moment variations of fast, the described steering wheel and the angular speed variation of the steering wheel；
Module 302 is adjusted, for according to the moment variations of the current vehicle speed, the steering wheel and the steering wheel
Angular speed variation, adjusts the electric current of the electric power-aid steering electric machine, so that the torque of the diverter and the steering wheel
Moment difference within a preset range.
In a kind of possible design, the acquisition module 301 is also used to obtain speed model belonging to the current vehicle speed
It encloses, wherein vehicle speed range belonging to the current vehicle speed is specially low speed vehicle speed range, middling speed vehicle speed range and high speed speed
One in range；
The adjustment module 302, is also used to the torque of the vehicle speed range according to belonging to the current vehicle speed, the steering wheel
The variation of the angular speed of variation and the steering wheel, adjusts the electric current of the electric power-aid steering electric machine.
In a kind of possible design, the adjustment module 302 is specifically used for:
If vehicle speed range belonging to the current vehicle speed is low speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the first default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the first default angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting then.
In a kind of possible design, the adjustment module 302 is specifically also used to:
If vehicle speed range belonging to the current vehicle speed is middling speed vehicle speed range, the moment variations of the steering wheel are judged
Whether the second default torque is greater than；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the second default angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting then.
In a kind of possible design, the adjustment module 302 is specifically also used to:
If vehicle speed range belonging to the current vehicle speed is high speed vehicle speed range, the moment variations of the steering wheel are judged
Whether it is greater than third and presets torque；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than third preset angular speed, if
It is then to adjust the electric current of the electric power-aid steering electric machine, if it is not, not adjusting then.
In a kind of possible design, the acquisition module 301 is specifically used for:
The torque of the multiple directions disk in preset duration before acquisition current time and the angular speed of multiple directions disk；
Maximum steering wheel torque and minimum steering wheel torque are determined in the torque of the multiple steering wheel, by the maximum
Moment variations of the difference of steering wheel torque and the minimum steering wheel torque as the steering wheel；
Maximum steering wheel angular velocity and minimum steering wheel angular velocity are determined in the angular speed of the multiple steering wheel, by institute
The difference for stating maximum steering wheel angular velocity and the minimum steering wheel angular velocity changes as the steering wheel angular velocity.
On the basis of the embodiment shown in fig. 4, Fig. 5 is according to the steering system control shown in another exemplary embodiment
The structural schematic diagram of device processed.As shown in figure 5, steering system control device provided in this embodiment, further includes:
Determining module 303, for according to the torque of the steering wheel at the current time and electric power steering electricity
The adjusted value of the electric current of machine determines the corresponding equivalent control torque of the electric current；
The adjustment module 302, is also used to obtain the torque of the steering wheel of subsequent time, judges the side of the subsequent time
Whether it is greater than default torque to the difference of the torque of disk and equivalent control torque, if so, described electric boosted turn of adjustment
To the electric current of motor.
The device that Fig. 4-embodiment shown in fig. 5 provides can be used for executing the method that Fig. 1-embodiment illustrated in fig. 2 provides,
Specific implementation is similar with technical effect, and which is not described herein again.
In addition, the present invention also provides a kind of automobiles, comprising: the behaviour of steering provided in embodiment as shown in fig. 4-5
Vertical system control device.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of steering system control method, which is characterized in that be applied to steering system, the steering system
Include: steering wheel, steering shaft, electric power-aid steering electric machine, deceleration mechanism, jackshaft, diverter, one end of the steering shaft with
The steering wheel connection, the other end are connect with the deceleration mechanism, and one end of the jackshaft is connect with the deceleration mechanism, separately
One end is connect with the diverter, and the electric power-aid steering electric machine is connect with the deceleration mechanism；The described method includes:
The corner of the steering wheel is obtained, and judges whether the corner of the steering wheel is greater than predetermined angle；
The corner for determining the steering wheel be greater than predetermined angle when, obtain current vehicle speed, the moment variations of the steering wheel with
And the angular speed variation of the steering wheel；
Changed according to the angular speed of the current vehicle speed, the moment variations of the steering wheel and the steering wheel, described in adjustment
The electric current of electric power-aid steering electric machine, so that the moment difference of the torque of the diverter and the steering wheel is in preset range
It is interior.
2. the method according to claim 1, wherein described according to the current vehicle speed, the power of the steering wheel
Square variation and the angular speed variation of the steering wheel, adjust the electric current of the electric power-aid steering electric machine, comprising:
Obtain vehicle speed range belonging to the current vehicle speed, wherein vehicle speed range belonging to the current vehicle speed is specially low speed
One in vehicle speed range, middling speed vehicle speed range and high speed vehicle speed range；
According to the angular speed of vehicle speed range belonging to the current vehicle speed, the moment variations of the steering wheel and the steering wheel
Variation, adjusts the electric current of the electric power-aid steering electric machine.
3. according to the method described in claim 2, it is characterized in that, the vehicle speed range according to belonging to the current vehicle speed,
The variation of the angular speed of the moment variations of the steering wheel and the steering wheel, adjusts the electricity of the electric power-aid steering electric machine
Stream, comprising:
If vehicle speed range belonging to the current vehicle speed be low speed vehicle speed range, judge the steering wheel moment variations whether
Greater than the first default torque；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the first default angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
4. according to the method described in claim 3, it is characterized in that, the vehicle speed range according to belonging to the current vehicle speed,
The variation of the angular speed of the moment variations of the steering wheel and the steering wheel, adjusts the electricity of the electric power-aid steering electric machine
Stream, further includes:
If vehicle speed range belonging to the current vehicle speed be middling speed vehicle speed range, judge the steering wheel moment variations whether
Greater than the second default torque；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than the second default angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
5. according to the method described in claim 4, it is characterized in that, the vehicle speed range according to belonging to the current vehicle speed,
The variation of the angular speed of the moment variations of the steering wheel and the steering wheel, adjusts the electricity of the electric power-aid steering electric machine
Stream, further includes:
If vehicle speed range belonging to the current vehicle speed be high speed vehicle speed range, judge the steering wheel moment variations whether
Torque is preset greater than third；
If the determination result is YES, then the electric current of the electric power-aid steering electric machine is adjusted；
If judging result be it is no, judge the steering wheel angular speed variation whether be greater than third preset angular speed, if so,
The electric current of the electric power-aid steering electric machine is adjusted, if it is not, not adjusting the electric current of the electric power-aid steering electric machine then.
6. method described in -5 any one according to claim 1, which is characterized in that the torque for obtaining the steering wheel becomes
Change and the angular speed of the steering wheel change, comprising:
The torque of the multiple directions disk in preset duration before acquisition current time and the angular speed of multiple directions disk；
Maximum steering wheel torque and minimum steering wheel torque are determined in the torque of the multiple steering wheel, by the maximum direction
The moment variations of disk torque and the difference of the minimum steering wheel torque as the steering wheel；
Determining maximum steering wheel angular velocity and minimum steering wheel angular velocity in the angular speed of the multiple steering wheel, by described in most
The difference of general orientation disk angular speed and the minimum steering wheel angular velocity changes as the steering wheel angular velocity.
7. according to the method described in claim 6, it is characterized in that, the electric current of the adjustment electric power-aid steering electric machine it
Afterwards, the method also includes:
According to the torque of the steering wheel at the current time and the adjusted value of the electric current of the electric power-aid steering electric machine, determine
The corresponding equivalent of the electric current controls torque；
The torque for obtaining the steering wheel of subsequent time judges that the torque of the steering wheel of the subsequent time and equivalent control are turned round
Whether the difference of square is greater than default torque, if so, adjusting the electric current of the electric power-aid steering electric machine.
8. a kind of steering system control device, which is characterized in that be applied to steering system, the steering system
Include: steering wheel, steering shaft, electric power-aid steering electric machine, deceleration mechanism, jackshaft, diverter, one end of the steering shaft with
The steering wheel connection, the other end are connect with the deceleration mechanism, and one end of the jackshaft is connect with the deceleration mechanism, separately
One end is connect with the diverter, and the electric power-aid steering electric machine is connect with the deceleration mechanism；Described device includes:
Module is obtained, for obtaining the corner of the steering wheel, and judges whether the corner of the steering wheel is greater than predetermined angle；
The acquisition module is also used to obtain current vehicle speed, described when the corner for determining the steering wheel is greater than predetermined angle
The variation of the angular speed of the moment variations of steering wheel and the steering wheel；
Module is adjusted, for according to the moment variations of the current vehicle speed, the steering wheel and the angular speed of the steering wheel
Variation, adjusts the electric current of the electric power-aid steering electric machine, so that the torque of the torque of the diverter and the steering wheel
Difference is within a preset range.
9. device according to claim 8, which is characterized in that
The acquisition module, is also used to obtain vehicle speed range belonging to the current vehicle speed, wherein belonging to the current vehicle speed
Vehicle speed range is specially one in low speed vehicle speed range, middling speed vehicle speed range and high speed vehicle speed range；
The adjustment module, be also used to the vehicle speed range according to belonging to the current vehicle speed, the steering wheel moment variations with
And the angular speed variation of the steering wheel, adjust the electric current of the electric power-aid steering electric machine.
10. a kind of automobile characterized by comprising steering system control device as claimed in claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829912.8A CN109131539B (en) | 2018-07-25 | 2018-07-25 | Steering control system control method and device and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810829912.8A CN109131539B (en) | 2018-07-25 | 2018-07-25 | Steering control system control method and device and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109131539A true CN109131539A (en) | 2019-01-04 |
| CN109131539B CN109131539B (en) | 2020-04-21 |
Family
ID=64798029
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810829912.8A Active CN109131539B (en) | 2018-07-25 | 2018-07-25 | Steering control system control method and device and automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109131539B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109464A (en) * | 2019-05-29 | 2019-08-09 | 江苏盛海智能科技有限公司 | A kind of the turning velocity control method and control terminal of automatic driving vehicle |
| CN111731376A (en) * | 2020-06-19 | 2020-10-02 | 北京汽车股份有限公司 | Vehicle, steering control method and device thereof and storage medium |
| CN113686571A (en) * | 2021-09-27 | 2021-11-23 | 东风汽车集团股份有限公司 | Torque and speed fluctuation testing system and method for steering intermediate shaft |
| CN113998002A (en) * | 2021-12-06 | 2022-02-01 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62175263A (en) * | 1986-01-30 | 1987-07-31 | Hitachi Ltd | Motor-driven power steering control device |
| CN201816638U (en) * | 2010-10-05 | 2011-05-04 | 陈浩 | Electric power-assisted steering system |
| CN106864585A (en) * | 2017-02-28 | 2017-06-20 | 安徽江淮汽车集团股份有限公司 | A kind of electronic power assist steering control method and system |
-
2018
- 2018-07-25 CN CN201810829912.8A patent/CN109131539B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62175263A (en) * | 1986-01-30 | 1987-07-31 | Hitachi Ltd | Motor-driven power steering control device |
| CN201816638U (en) * | 2010-10-05 | 2011-05-04 | 陈浩 | Electric power-assisted steering system |
| CN106864585A (en) * | 2017-02-28 | 2017-06-20 | 安徽江淮汽车集团股份有限公司 | A kind of electronic power assist steering control method and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110109464A (en) * | 2019-05-29 | 2019-08-09 | 江苏盛海智能科技有限公司 | A kind of the turning velocity control method and control terminal of automatic driving vehicle |
| CN110109464B (en) * | 2019-05-29 | 2022-10-04 | 江苏盛海智能科技有限公司 | Steering speed control method and control end of unmanned vehicle |
| CN111731376A (en) * | 2020-06-19 | 2020-10-02 | 北京汽车股份有限公司 | Vehicle, steering control method and device thereof and storage medium |
| CN111731376B (en) * | 2020-06-19 | 2022-02-18 | 北京汽车股份有限公司 | Vehicle, steering control method and device thereof and storage medium |
| CN113686571A (en) * | 2021-09-27 | 2021-11-23 | 东风汽车集团股份有限公司 | Torque and speed fluctuation testing system and method for steering intermediate shaft |
| CN113998002A (en) * | 2021-12-06 | 2022-02-01 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
| CN113998002B (en) * | 2021-12-06 | 2022-11-08 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109131539B (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109131539A (en) | Steering system control method, device and automobile | |
| US7792619B2 (en) | Electrically driven power steering system for vehicle | |
| EP0858942B1 (en) | Steering apparatus for vehicle | |
| JP2774946B2 (en) | Control method and device for electric assist steering system | |
| EP1559633B1 (en) | Method and apparatus for controlling an electric assist motor using a modified blending filter | |
| US7406373B2 (en) | Electric power steering system | |
| EP3366549A1 (en) | Electric power steering device | |
| US8666605B2 (en) | Securing the assistance torque by means of an estimator of the force on the rack | |
| CN1712296A (en) | Steering apparatus for steerable vehicle | |
| JP4061980B2 (en) | Electric power steering device | |
| US9487230B2 (en) | Power steering device, and control device used for same | |
| EP1380491A2 (en) | Vehicle steering operation control method and vehicle steering operation control apparatus | |
| EP1072498A2 (en) | Electric power steering system | |
| CN104228935A (en) | Electric power steering device | |
| CN114080343B (en) | Method for operating a motor-adjustable steering column and motor-adjustable steering column for a motor vehicle | |
| CN110382332B (en) | Power steering apparatus | |
| CN110550091A (en) | Steer-by-wire steering system and method of operating such a system | |
| KR20170090444A (en) | Steering device and method of controlling a steering device | |
| US8234042B2 (en) | Authority limits for a vehicle steering system | |
| CN106314526B (en) | The control device of electrically powered steering apparatus using same | |
| KR102376065B1 (en) | Motor driven power steering system control method | |
| CN110712678A (en) | Control method of vehicle steering system and vehicle thereof | |
| CN112278067A (en) | Control method of electric power steering system | |
| US7664583B2 (en) | Electric power assisted steering apparatus | |
| CN113443001B (en) | Variable travel stop for improved worm gear durability |
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 |