CN109278850B - Steering power-assisted control method and system and automobile - Google Patents
Steering power-assisted control method and system and automobile Download PDFInfo
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- CN109278850B CN109278850B CN201811202444.8A CN201811202444A CN109278850B CN 109278850 B CN109278850 B CN 109278850B CN 201811202444 A CN201811202444 A CN 201811202444A CN 109278850 B CN109278850 B CN 109278850B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
Abstract
The invention provides a steering power-assisted control method, a steering power-assisted control system and an automobile, and belongs to the technical field of automobile steering controlFirstly, setting the minimum rotating speed N DEG/S and the maximum rotating speed M DEG/S of a steering wheel under a steering assistance control mode of an automobile; secondly, the rotating speed omega of the steering wheel is obtained, and if omega is smaller than N DEG/S, the power steering control unit is in a standby state; if Ndegree/S is more than omega and less than Mdegree/S, the steering power-assisted control unit reduces the motor power-assisted moment T in the range of 0-20% through the motor controlleraAn output of (d); if the M DEG/S is less than omega, the steering power-assisted control unit reduces the motor power-assisted torque T according to the vehicle speed in different stages and the range of 20-80 percentaTo output of (c). According to the power steering control method and system and the automobile, different control strategies can be selected according to the rotating speed of the steering wheel, the phenomena of rapid striking and quick striking of the steering wheel are avoided, and the situation that the vehicle is out of control in operation is reduced.
Description
Technical Field
The invention relates to the technical field of automobile steering control, in particular to a steering power-assisted control method, a steering power-assisted control system and an automobile.
Background
The road condition and road surface condition for the automobile running are complicated, and especially when the automobile runs on a road surface with a low adhesion coefficient, steering operation becomes an important factor influencing the running safety.
When a driver encounters an emergency in the driving process, due to the time urgency and the physiological tension state, the control capability of the driver on the steering wheel is obviously reduced at ordinary times, excessive force is easily exerted, the steering speed of the steering wheel is too high, the actual driving track of the vehicle and the predicted driving track of the driver have great deviation, and the driver possibly loses control over the vehicle.
The steering power-assisted system arranged in the existing automobile can not adjust the motor power-assisted torque of the automobile according to the rotating speed adaptability of a steering wheel, so that the phenomena of sudden and rapid steering of the steering wheel occur, and the condition that the vehicle is out of control in operation is caused.
Disclosure of Invention
The invention provides a power-assisted steering control method, a power-assisted steering control system and an automobile, wherein the output of a motor power-assisted torque is adjusted according to the rotating speed of a steering wheel, so that the phenomena of sudden and rapid steering of the steering wheel are avoided, and the condition that the vehicle is out of control in operation is reduced.
In order to achieve the purpose, the invention adopts the following technical scheme;
the invention provides a steering power-assisted control method in a first aspect, which comprises the following steps:
step one, setting the minimum rotating speed N DEG/S and the maximum rotating speed M DEG/S of a steering wheel in a steering power-assisted control mode of an automobile;
step two, the automobile enters a steering power-assisted control mode and generates an excitation signal to be transmitted to the steering power-assisted control unit;
thirdly, the steering power-assisted control unit starts to work after receiving an excitation signal that the automobile enters a steering power-assisted control mode;
acquiring the rotating speed omega of a steering wheel, comparing the rotating speed omega with a set minimum rotating speed N DEG/S and a set maximum rotating speed M DEG/S, and selecting different control strategies;
if omega is less than N DEG/S, the power steering control unit is in a standby state;
if Ndegree/S is more than omega and less than Mdegree/S, the steering power-assisted electronic control unit reduces the motor power-assisted torque T in the range of 0-20% through the motor controlleraAn output of (d);
if the M DEG/S is less than omega, the power-assisted control unit reduces the motor power-assisted torque T according to the vehicle speed of different stages within the range of 20-80 percentaAn output of (d);
and step four, the automobile exits the steering power-assisted control mechanism mode.
Compared with the prior art, the steering power-assisted control method provided by the invention has the following advantages;
the steering power-assisted control method provided by the invention can select different control strategies according to the rotating speed of the steering wheel, so that the power-assisted motor outputs different motor power-assisted torques according to different rotating speeds of the steering wheel, thereby avoiding the phenomena of sudden and rapid steering of the steering wheel and reducing the occurrence of out-of-control vehicle operation.
Further, in the second step and the third step, the steering power-assisted control unit acquires a numerical fluctuation interval of the rotating torque T of the torque sensor within T seconds;
if the numerical fluctuation interval of the detected rotating torque T conforms to the rotating torque T of the road surface with the low adhesion coefficientdWhen the numerical value is within the fluctuation range, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
Further, in the second step and the third step, the steering assist control unit obtains the rainfall capacity;
if the rainfall level of the rainfall is above the middle rain, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
Further, in the second step and the third step, the steering assist control unit obtains the snowfall amount;
if the snowfall grade of the snowfall amount is above the middle snow, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
Further, in the second step and the third step, the driver enters or exits the steering assist control mode according to the road condition of the automobile driving section.
Further, when the automobile enters a power-assisted steering control mode, the power-assisted steering control unit sends out voice prompts and road condition information is displayed on an automobile display screen.
Furthermore, in the third step, if the M DEG/S is less than omega and the vehicle running speed V is 0km/h-20km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 20% through the motor controlleraOutputting;
if the M DEG/S is less than omega and the running speed V of the automobile is 20km/h-50km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 40 percent through the motor controlleraOutputting;
if the M DEG/S is less than omega and the running speed V of the automobile is 50km/h-70km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 60 percent through the motor controlleraOutputting;
if the M DEG/S is less than omega and the automobile running speed V is more than 70km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 80 percent through the motor controlleraAnd (6) outputting.
Further, if the M DEG/S is less than omega and the vehicle running speed V is more than 70km/h, the power steering control unit increases the movement resistance moment of the steering wheel through the motor controllerTf。
The invention provides a power steering control system in a second aspect, which comprises a torque sensor, a vehicle speed sensor, a current sensor and a power steering control unit;
the torque sensor and the vehicle speed sensor are respectively connected with the power steering control unit and are used for transmitting the rotating torque T and the vehicle running speed V to the power steering control unit; the current sensor is used for collecting the working current I of the power-assisted motoraAnd transmitting the current to a power-assisted steering control unit, wherein a torque-motor power-assisted target ammeter is preset in the power-assisted steering control unit, and the power-assisted steering control unit determines a first reference current I of a power-assisted motor according to the detected rotating torque TreAnd combining the rotation speed omega of the steering wheel with the first reference current I of the power-assisted motorreRegulating to obtain a second reference current Ire；
Second reference current IreAnd the working current I of the booster motoraObtaining the theoretical working current I of the power-assisted motor after being regulated by a PID regulatorCThe input is input to a motor controller, and the motor controller is used for controlling the motor according to the theoretical working current I of the power-assisted motorCThe motor is controlled to output motor torque.
The invention provides a power steering control system, which is used for controlling a first reference current I of a power steering motor through the rotating speed of a steering wheelreRegulating to make the second reference current IreIs less than or greater than the first reference current IrePID regulator for the second reference current IreAnd the working current I of the booster motoraThe theoretical working current I of the power-assisted motor is obtained by adjustmentCAnd the torque is transmitted to the motor controller, so that the assistance torque of the assistance motor is adjusted.
The invention provides an automobile, which comprises a rainfall sensor, a snow sensor and a button steering power-assisted control system, wherein the rainfall sensor and the snow sensor are respectively connected with the steering power-assisted control unit; the rainfall sensor is used for detecting rainfall and transmitting the rainfall to the power-assisted steering control unit, and the snow sensor is used for detecting the snowfall and transmitting the snowfall to the power-assisted steering control unit.
The automobile provided by the invention comprises a steering power-assisted system, a rainfall sensor, a snow sensor and a button of a steering power-assisted control mode, wherein the automobile can automatically enter the steering power-assisted control mode in rainy and snowy weather or a driver can enter the steering power-assisted control mode through the button according to road conditions, and the automobile can select different control strategies according to the rotating speed of a steering wheel when entering the steering power-assisted control mode, so that a power-assisted motor outputs different motor power-assisted moments according to different rotating speeds of the steering wheel, the phenomena of sudden driving and quick driving of the steering wheel are avoided, and the condition that the vehicle is out of control in operation is reduced.
In addition to the technical problems solved by the present invention, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the steering assist control method and system of the present invention, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description of the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments of the present invention or the prior art will be briefly described below, it is obvious that the drawings in the following description are only a part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a detailed illustration of steps of a steering assist control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the operation of a power steering control system according to an embodiment of the present invention;
description of reference numerals:
10-a torque sensor,
20-a vehicle speed sensor for detecting the speed of the vehicle,
30-a steering power-assisted control unit,
31-a PID-regulator, which is,
40-a current sensor-the current sensor,
50-the control device of the motor is provided,
and 60-an assisting motor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a steering assist control method according to an embodiment of the present invention includes the following steps:
step one, setting the minimum rotating speed N DEG/S and the maximum rotating speed M DEG/S of a steering wheel in a steering power-assisted control mode of an automobile.
Specifically, the maximum rotating speed M DEG/S of a steering wheel and the minimum rotating speed N DEG/S of the steering wheel of the automobile in a power-assisted steering control mode are set according to the load of the automobile, the working condition of a steering system of the automobile and the running speed of the automobile, wherein M, N is a positive integer.
And step two, the automobile enters a steering power-assisted control mode and generates an excitation signal to be transmitted to a steering power-assisted control unit.
Specifically, the automobile can select to enter a steering assistance control mode according to the running road condition of the automobile, the weather environment or the fluctuation condition of the rotation moment detected by a torque sensor of an internal steering wheel; after the automobile enters a steering power-assisted control mode, a corresponding excitation signal is generated and transmitted to the steering power-assisted control unit, and the excitation signal is used for activating the steering power-assisted control unit to start working.
Thirdly, the steering power-assisted control unit receives an excitation signal that the automobile enters a steering power-assisted control mode to start working, obtains the rotating speed omega of the steering wheel and sets the minimum rotating speed omega of the steering wheelComparing the rotating speed N DEG/S with the maximum rotating speed M DEG/S of the steering wheel, and selecting different control strategies; if omega is less than N DEG/S, the power steering control unit is in a standby state; if Ndegree/S is more than omega and less than Mdegree/S, the steering power-assisted control unit reduces the motor power-assisted moment T in the range of 0-20% through the motor controlleraAn output of (d); if the M DEG/S is less than omega, the steering power-assisted control unit reduces the motor power-assisted torque T according to the ranges of 20-80% according to the vehicle speeds in different stagesaTo output of (c).
Specifically, after receiving an excitation signal that the automobile enters a steering assist control mode, the steering assist control unit starts to acquire the rotation speed ω of the steering wheel, compares the acquired rotation speed ω of the steering wheel with a preset minimum rotation speed N °/S and a preset maximum rotation speed M °/S of the steering wheel, and selects different control strategies according to the comparison result between the rotation speed of the steering wheel and a set value of the rotation speed of the steering wheel, so that the assist motor reduces the motor assist torque output by the assist motor or increases the motion resistance torque output to the steering wheel. The change of the assist torque output from the assist motor will be described in detail based on the difference between the steering wheel rotation speed and the set value of the steering wheel rotation speed.
If the rotating speed omega of the steering wheel collected by the power-assisted steering control unit is less than the set minimum rotating speed N DEG/S of the steering wheel, the power-assisted steering control unit is in a standby rotating state and does not output the power-assisted torque T to the power-assisted motoraAdjustments are made.
If the rotating speed omega of the steering wheel acquired by the power-assisted steering control unit is greater than the set minimum rotating speed N DEG/S of the steering wheel and is less than the set maximum rotating speed M DEG/S of the steering wheel, the power-assisted steering control unit reduces the motor power-assisted torque T in the range of 0-20% through the motor controlleraTo output of (c).
If the rotating speed omega of the steering wheel acquired by the power-assisted steering control unit is greater than the set maximum rotating speed MDEG/S of the steering wheel, the running speed of the automobile is detected, and the power-assisted steering control unit reduces the motor power-assisted torque T within the range of 20-80% according to the running state of the automobile at different speedsaThe output of the motor can be matched with corresponding motor torque according to the speed of the vehicle, so that the vehicle can be drivenThe driving track of the vehicle is approximately the same as the track predicted by the driver.
And step four, the automobile exits the steering power control mode.
Specifically, the vehicle may select to exit the steering assist control mode according to the condition of the road on which the vehicle is traveling, the weather environment, or the fluctuation of the rotational torque detected by the torque sensor of the internal steering wheel; and after the automobile exits the steering power-assisted control mode, generating a corresponding excitation signal and transmitting the corresponding excitation signal to the steering power-assisted control unit for releasing the working state of the steering power-assisted control unit.
According to the steering power-assisted control method provided by the invention, the power-assisted moment is reduced according to the rotating speed of the steering wheel, the phenomena of sudden and rapid steering of the steering wheel are avoided, and the condition that the vehicle is out of control in operation is reduced.
In the second step and the third step, the power steering control unit obtains a numerical fluctuation interval of the rotating torque T of the torque sensor within T seconds; if the numerical fluctuation interval of the detected rotating torque T conforms to the rotating torque T of the road surface with the low adhesion coefficientdWhen the numerical value is within the fluctuation range, the automobile enters a steering power-assisted control mode; otherwise, the vehicle exits the steering assist control mode.
Specifically, the turning moment T of the road surface with a low adhesion coefficient is set in advance in the steering assist control unitdThe steering power-assisted control unit is connected with the torque sensor, acquires the numerical fluctuation interval of the rotating moment T of the torque sensor within T seconds, and combines the numerical fluctuation interval of the rotating moment T of the torque sensor within T seconds with the rotating moment T of the road surface with low adhesion coefficient preset by the steering power-assisted control unitdIf the value fluctuation interval of the rotating torque T acquired by the torque sensor falls into the rotating torque T of the road surface with low adhesion coefficientdWhen the numerical value is within the fluctuation range, the automobile enters a steering power-assisted control mode, otherwise, the automobile exits the steering power-assisted control mode.
In the second step and the third step, the steering assist control unit obtains the rainfall capacity; if the rainfall level of the rainfall is above the middle rain, the automobile enters a steering power-assisted control mode; otherwise, the vehicle exits the steering assist control mode.
Specifically, the power steering control unit obtains the rainfall from the outside, and it can be understood that a rainfall sensor or other rainfall detecting instruments can be arranged on the automobile for detecting the rainfall when the automobile runs. And if the detected rainfall level is medium rain or above, the automobile enters a steering power-assisted control mode, otherwise, the automobile exits the steering power-assisted control mode.
It can be understood that the rainfall sensor is connected with the power steering control unit, and when the rainfall level detected by the rainfall sensor is medium rain or above the medium rain, an excitation signal is generated and transmitted to the power steering control unit, so that the automobile enters a power steering control mode. The understanding of the medium rain in this embodiment is as follows but not limited to, the precipitation is 5mm to 15mm within 12 hours, or the precipitation is 10mm to 25mm within 24 hours. The middle rain is only the rainfall of the automobile entering the steering power control mode, and if the road is in the low adhesion state due to gust rain or surface water accumulation and the road is in the low adhesion state due to the rainfall of the middle rain, the automobile enters the steering power control mode.
In the second step and the third step, the steering assist control unit obtains the snowfall amount; if the snowfall grade of the snowfall amount is above the middle snow, the automobile enters a steering power-assisted control mode; otherwise, the vehicle exits the steering assist control mode.
Specifically, the steering assist control unit obtains the snowfall amount from the outside, and it can be understood that a snow amount sensor or other snowfall amount detection instruments may be disposed on the vehicle to detect the snowfall amount when the vehicle is running. And if the detected snowfall level is the middle snow or above, the automobile enters a steering power-assisted control mode, otherwise, the automobile exits the steering power-assisted control mode.
It can be understood that the snow sensor is connected to the power steering control unit, and when the snowfall level detected by the snow sensor is in or above the middle rain, an excitation signal is generated and transmitted to the power steering control unit, so that the vehicle enters the power steering control mode. The understanding of the snowfall in the present embodiment is not limited to the following, and the snowfall amount is 1mm to 3mm within 12 hours, or the snowfall amount is 2.5mm to 5mm within 24 hours; the snow is only the snow fall amount of the vehicle entering the steering power control mode, if the snow on the road surface makes the road in the low adhesion state to be the same as the snow fall amount of the vehicle making the road in the low adhesion state, the vehicle enters the steering power control mode, and when the snow on the road surface reaches 30mm, the vehicle enters the steering power control mode.
In this embodiment, in the second step and the third step, the driver autonomously enters or exits the steering assist control mode according to the road condition of the automobile traveling section. Specifically, when the driver drives on a mountain road on the back of the shady side in winter according to a special road section where the automobile is located, for example, the automobile is driven on the mountain road in winter, the mountain road may be wet and slippery, the road adhesion coefficient is low, the driver can automatically enter the steering assistance control mode according to the road condition, and when the road condition is good, the driver can automatically exit the steering assistance control mode.
In this embodiment, when the vehicle enters the steering assist control mode, the steering assist control unit sends out a voice prompt, and displays the road condition information on the vehicle display screen. Specifically, a voice prompt system and a display screen are arranged in the automobile, the steering power-assisted control unit is respectively connected with the voice prompt system and the display screen, when the automobile enters a steering power-assisted control mode, a voice prompt is sent out, the voice prompt content can be 'wet and slippery road, please pay attention to driving safety', an alarm mark is displayed on the display screen, and voice information is converted into characters to be displayed on the display screen; when the automobile exits the steering power control mode, the voice prompt and the warning mark are turned off, so that the steering safety of the automobile running on a low-adhesion road surface can be further improved, and the out-of-control condition of the automobile is reduced.
In the third step, if M DEG/S < omega and the vehicle speed V is 0km/h
20km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 20 percent through the motor controlleraOutputting; if the M DEG/S is less than omega and the running speed V of the automobile is 20km/h-50km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 40 percent through a motor controlleraOutputting; if the M DEG/S is less than omega and the running speed V of the automobile is 50km/h-70km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 60 percent through the motor controlleraOutputting; if the M DEG/S is less than omega and the automobile running speed V is more than 70km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 80 percent through the motor controlleraAnd outputting, wherein in the scheme, the corresponding motor torque is matched according to the vehicle speed, so that the driving track of the vehicle is approximately the same as the track pre-judged by the driver. It is understood that the above listed examples are preferred recommended values, which can be set according to the steering condition of the vehicle, and the motor torque T corresponding to different vehicle speed ranges in the embodimentaAnd are not intended to be limiting.
In addition, in the third step, if M DEG/S < omega and the vehicle running speed V is more than 70km/h, the power steering control unit can also increase the movement resistance moment T of the steering wheel through the motor controllerf. Specifically, when the steering wheel rotating speed omega detected by the power steering control unit is larger than the set maximum rotating speed M DEG/S and the collected automobile driving speed V is larger than 70km/h, the power steering control unit increases the movement resistance moment T of the steering wheelfThe steering wheel is used for offsetting the rotating torque applied by the driver, so that the rotating amplitude and the rotating speed of the steering wheel are accelerated and reduced, and the harm to the driving safety caused by the driver who makes or quickly makes the steering wheel is reduced.
In the present embodiment, the maximum rotation speed value of the steering wheel is set to 800 °/S and the minimum rotation speed value is set to 360 °/S in the power steering control unit.
If the rotating speed omega of the steering wheel collected by the power-assisted steering control unit is less than 360 DEG/S, the power-assisted steering control unit is in a standby rotating state and does not output the power-assisted torque T to the power-assisted motoraAdjustments are made.
If the rotation speed omega of the steering wheel collected by the power-assisted steering control unit is more than 360 DEG/S and less than 800 DEG
(S), the steering power-assisted control unit reduces the motor power-assisted torque T in the range of 0-20% through the motor controlleraPreferably, the power of the steering assist control unit is reduced by 10% by the motor controllerMechanical auxiliary torque TaTo output of (c).
If the rotation speed omega of the steering wheel collected by the power-assisted steering control unit is larger than 800 DEG/S and the running speed V of the vehicle at the moment is collected, and if the running speed V of the automobile is between 0km/h and 20km/h, the power-assisted steering control unit reduces the motor power-assisted torque T by 20 percent through a motor controlleraOutputting; if the running speed V of the automobile is between 20km/h and 50km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 40 percent through a motor controlleraOutputting; if the driving speed V of the automobile is 50km/h-70km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 60 percent through a motor controlleraOutputting; if the rotating speed omega of the steering wheel collected by the power-assisted steering control unit is more than 800 degrees/S and the automobile running speed V is more than 70km/h, the power-assisted control unit reduces 80 percent of motor power-assisted torque T through a motor controlleraAnd (6) outputting.
In addition, when the vehicle running speed V is more than 70km/h, the steering power-assisted control unit increases the movement resistance moment T of the steering wheelfThe steering wheel is used for offsetting the rotating torque applied by the driver, and the rotating amplitude and the rotating speed of the steering wheel can be quickened and reduced.
As shown in fig. 2, the power steering control system according to the embodiment of the present invention includes a torque sensor 10, a vehicle speed sensor 20, a current sensor 40, and a power steering control unit 30; the torque sensor 10 and the vehicle speed sensor 20 are respectively connected with the power steering control unit 30, and are used for transmitting the rotation torque T and the vehicle running speed V to the power steering control unit 30; the current sensor 40 is used for acquiring the working current I of the power-assisted motoraAnd transmitted to the steering assist control unit 30; the steering assist control unit 30 is preset with a torque-motor assist target ammeter, and the steering assist control unit 30 determines a first reference current I of the assist motor 60 according to the detected rotation torque TreAnd in combination with the steering wheel speed omega to a first reference current I of the assistance motor 60reRegulating to obtain a second reference current Ire(ii) a Second reference current IreAnd the working current I of the booster motoraThe theoretical working current I of the power-assisted motor is obtained after being regulated by the PID regulator 31CInput to a motor controller 50 for motor controlThe device 50 works according to the theoretical working current I of the booster motorCThe assist motor 60 is controlled to output a motor assist torque.
Specifically, the power steering control system comprises a power steering control unit 30, and a vehicle speed sensor 20, a current sensor 40 and a torque sensor 10 of a steering wheel which are connected with the power steering control unit 30, wherein the vehicle speed sensor 20 is usually installed in a drive axle housing or a transmission housing, and the vehicle speed sensor 20 is connected with the power steering control unit 30 through a signal line for transmitting the running speed of the automobile to the power steering control unit 30.
The current sensor 40 is provided in the EPS steering assist control system, and detects the operating current I of the assist motor 60aAnd collecting the working current I of the booster motor 60aTo the PID regulator 31 of the steering assistance control unit.
A torque-motor power-assisted target ammeter is arranged in the power-assisted steering control unit 30, the rotating torque T acquired by the torque sensor 10 is transmitted to the power-assisted steering control unit 30, and a first reference current I of the power-assisted motor is calculated by combining the torque-motor target ammeterre(ii) a The power steering control unit 30 collects the steering wheel rotation speed omega and the first reference current I of the power-assisted motorreFor a first reference current I of the booster motorreAdjusting to obtain a second reference current IreIf the steering wheel speed omega is greater than 360 DEG/S and less than 800 DEG/S, a second reference current I is obtainedre< first reference current Ire(ii) a If the steering wheel speed omega is greater than 800 DEG/S, the second reference current IreFar < first reference current IreOr when the vehicle speed exceeds 70km/h, the second reference current IreCan be matched with the first reference current IreAnd reversing.
Second reference current IreAnd the working current I of the booster motoraThe theoretical working current I of the power-assisted motor is obtained after being transmitted to the PID regulator 31 and regulated by the PID regulator 31CAnd the theoretical working current I of the power-assisted motorCThe input is input to a motor controller 50, and the motor controller 50 operates according to the theoretical working current I of the power-assisted motorCControl the power-assisted motor 60 to output the motor power-assisted torqueThe assist motor 60 may reduce the output of the motor assist torque or generate the steering wheel movement resistance torque Tf。
The automobile that provides in this embodiment includes the button and the power assisted steering control system that the rainfall sensor, the snow sensor and the automobile got into or exited the power assisted steering control mode that are connected with power assisted steering control unit respectively, and the rainfall sensor is used for detecting the rainfall and transmits for power assisted steering control unit, and the snow sensor is used for detecting the snowfall and transmits for power assisted steering control unit. And the steering power-assisted control unit enables the automobile to enter a steering power-assisted control mode according to the rainfall or snowfall and the driver's autonomous selection.
The automobile provided by the invention can automatically enter a steering power-assisted control mode in rainy and snowy weather or a driver can enter the steering power-assisted control mode through the button according to road conditions, and the automobile can select different control strategies according to the rotating speed of the steering wheel when entering the steering power-assisted control mode, so that the power-assisted motor can output different motor power-assisted torques according to different rotating speeds of the steering wheel, the phenomena of sudden driving and quick driving of the steering wheel are avoided, and the condition that the vehicle is out of control in operation is reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A steering assist control method characterized by comprising the steps of:
step one, setting the minimum rotating speed N DEG/S and the maximum rotating speed M DEG/S of a steering wheel in a steering power-assisted control mode of an automobile;
step two, the automobile enters a steering power-assisted control mode and generates an excitation signal to be transmitted to the steering power-assisted control unit;
thirdly, the steering power-assisted control unit starts to work after receiving an excitation signal that the automobile enters a steering power-assisted control mode;
acquiring the rotating speed omega of a steering wheel, comparing the rotating speed omega with a set minimum rotating speed N DEG/S and a set maximum rotating speed M DEG/S, and selecting different control strategies;
if omega is less than N DEG/S, the power steering control unit is in a standby state;
if Ndegree/S is more than omega and less than Mdegree/S, the steering power-assisted control unit reduces the motor power-assisted moment T in the range of 0-20% through the motor controlleraAn output of (d);
if the M DEG/S is less than omega, the steering power-assisted control unit reduces the motor power-assisted torque T in the range of 20-80% according to the vehicle speeds in different stagesaAn output of (d);
and step four, the automobile exits the steering power control mode.
2. The steering assist control method according to claim 1, wherein in the second step and the third step;
the steering power-assisted control unit acquires a numerical fluctuation interval of a rotating moment T of the torque sensor within T seconds continuously;
if the numerical fluctuation interval of the detected rotating torque T conforms to the rotating torque T of the road surface with the low adhesion coefficientdWhen the numerical value is within the fluctuation range, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
3. The steering assist control method according to claim 1, wherein in the second step and the third step,
the steering power-assisted control unit acquires rainfall;
if the rainfall level of the rainfall is above the middle rain, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
4. The steering assist control method according to claim 1, wherein in the second step and the third step,
the steering power-assisted control unit acquires the snowfall amount;
if the snowfall grade of the snowfall amount is above the middle snow, the automobile enters a steering power-assisted control mode;
otherwise, the vehicle exits the steering assist control mode.
5. The steering assist control method according to claim 1, wherein in the second step and in the third step, the driver controls the vehicle to enter or exit the steering assist control mode according to the road condition of the section where the vehicle travels.
6. The power steering control method according to claim 1, wherein when the vehicle enters the power steering control mode, the power steering control unit sends out a voice prompt and displays road condition information on a vehicle display screen.
7. The steering assist control method according to claim 1, wherein in the third step, if M °/S < ω and the vehicle traveling speed V is 0km/h to 20km/h, the steering assist control unit reduces the motor assist torque T by 20% by the motor controlleraOutputting;
if the M DEG/S is less than omega and the running speed V of the automobile is 20km/h-50km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 40 percent through the motor controlleraOutputting;
if the M DEG/S is less than omega and the running speed V of the automobile is 50km/h-70km/h, the steering power-assisted control unit reduces the motor power-assisted moment T by 60 percent through the motor controlleraOutputting;
if the M DEG/S is less than omega and the automobile running speed V is more than 70km/h, the steering power-assisted control unit reduces the motor power-assisted torque T by 80 percent through the motor controlleraAnd (6) outputting.
8. The steering assist control method according to claim 7, characterized in thatIf the M DEG/S is less than omega and the vehicle running speed V is more than 70km/h, the power steering control unit increases the movement resistance moment T of the steering wheel through the motor controllerf。
9. A steering assist control system characterized by comprising a torque sensor, a vehicle speed sensor, a current sensor, and the steering assist control unit according to any one of claims 1 to 8;
the torque sensor and the vehicle speed sensor are respectively connected with the power steering control unit and are used for transmitting the rotating torque T and the vehicle running speed V to the power steering control unit;
the current sensor is used for collecting the working current I of the power-assisted motoraAnd transmitting the current to a power-assisted steering control unit, wherein a torque-motor power-assisted target ammeter is preset in the power-assisted steering control unit, and the power-assisted steering control unit determines a first reference current I of a power-assisted motor according to the detected rotating torque TreAnd combining the rotation speed omega of the steering wheel with the first reference current I of the power-assisted motorreRegulating to obtain a second reference current Ire；
Second reference current IreAnd the working current I of the booster motoraObtaining the theoretical working current I of the power-assisted motor after being regulated by a PID regulatorCThe input is input to a motor controller, and the motor controller is used for controlling the motor according to the theoretical working current I of the power-assisted motorCThe motor is controlled to output motor torque.
10. An automobile, characterized by comprising a rain sensor, a snow sensor and a button for the automobile to enter or exit a steering power control mode, which are respectively connected with the steering power control unit, and the steering power control system of claim 9;
the rainfall sensor is used for detecting rainfall and transmitting the rainfall to the power-assisted steering control unit, and the snow sensor is used for detecting the snowfall and transmitting the snowfall to the power-assisted steering control unit.
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| CN201811202444.8A CN109278850B (en) | 2018-10-16 | 2018-10-16 | Steering power-assisted control method and system and automobile |
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| CN201811202444.8A CN109278850B (en) | 2018-10-16 | 2018-10-16 | Steering power-assisted control method and system and automobile |
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| CN109278850A (en) | 2019-01-29 |
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