CN109533013A - A kind of electric boosting steering system and its friction compensation method and controller - Google Patents
A kind of electric boosting steering system and its friction compensation method and controller Download PDFInfo
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- CN109533013A CN109533013A CN201811452845.9A CN201811452845A CN109533013A CN 109533013 A CN109533013 A CN 109533013A CN 201811452845 A CN201811452845 A CN 201811452845A CN 109533013 A CN109533013 A CN 109533013A
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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
-
- 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 electric boosting steering system and its friction compensation method and controller, this method obtains smoothly switching electric current by carrying out anticipatory control to steering wheel torque；And electric current is smoothly switched with this to be modified the initial compensation electric current being normally calculated, and then realizes the effective compensation for frictional force hysteretic characteristic, avoids the problem of switching of revolving speed zero-bit easily causes torque jump in the prior art.
Description
Technical field
The present invention relates to electric power steering control technology field, in particular to a kind of electric boosting steering system and its rub
Wipe compensation method and controller.
Background technique
Electric boosting steering system, which refers to, provides the control system of power-assisted using motor for motor turning, pure compared to traditional
Mechanical steering system, electric boosting steering system can make steering lighter, and handling maneuver sense is more comfortable, mentions for driver
For more superior driving experience.
However the electric boosting steering system in entire transmission process due to introducing comprising multiple mechanical transmission mechanisms
Moment of friction is interfered, therefore will affect the steering feel of driver.To improve the steering feel of driver, then need to be added suitable
When friciton compensation；Such as the Coulomb friction compensation scheme demarcated that the prior art uses, alternatively, based on direction disk rotating speed
Force of sliding friction compensation scheme.
But above two scheme does not fully consider the hysteretic characteristic of frictional force, i.e., when relative velocity between two objects
When changing, frictional force needs to lag the characteristic that can just change a period of time, switches (rotation direction so as to cause revolving speed zero-bit
Change, make revolving speed from negative value to positive value or from positive values to this process of negative value, positive and negative values are opposite) it is easy to act on driver
Power on the steering wheel generates instantaneous abrupt change (> 0.2Nm), that is, causes torque to jump, cause severe driving experience.
Summary of the invention
The present invention provides a kind of electric boosting steering system and its friction compensation method and controller, to avoid the prior art
The problem of middle revolving speed zero-bit switching easily causes torque jump.
In order to achieve the object, technical solution provided by the invention is as follows:
A kind of friction compensation method of electric boosting steering system, comprising:
It is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electric current；
Anticipatory control is carried out to the steering wheel torque, obtains smoothly switching electric current；
It is calculated and is handled according to the initial compensation electric current and the electric current that smoothly switches, obtained and export friction benefit
Repay current value.
Preferably, anticipatory control is carried out to the steering wheel torque, obtains smoothly switching electric current, comprising:
Proportion-plus-derivative control is carried out to the steering wheel torque, obtains described smoothly switching electric current.
Preferably, it is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electricity
Stream, comprising:
According to the steering wheel rotational angular velocity and the speed, expectation friciton compensation electric current is determined；
Torque yield value is determined according to the steering wheel torque；
The product for calculating expectation the friciton compensation electric current and the torque yield value, obtains the initial compensation electric current.
Preferably, according to the steering wheel rotational angular velocity and the speed, expectation friciton compensation electric current is determined, comprising:
In the first preset relation table, searches expectation corresponding with the steering wheel rotational angular velocity and the speed and rub
Wipe compensation current absolute value；
According to the direction of expectation the friciton compensation current absolute value and the steering wheel rotational angular velocity, the phase is obtained
Hope friciton compensation electric current.
Preferably, the first preset relation table is to be tested by mechanical steering system kinetics relation or train experiment
The three-dimensional curve arrived.
Preferably, torque yield value is determined according to the steering wheel torque, comprising:
In the second preset relation table, the torque yield value corresponding with the steering wheel torque is searched.
Preferably, the second preset relation table is the two-dimensional curve tested by train experiment；
And in the second preset relation table:
When the steering wheel torque is less than or equal to first threshold, the torque yield value is 1；
When the steering wheel torque is greater than the first threshold and is less than second threshold, the torque yield value is greater than 0
And less than 1；
When the steering wheel torque is more than or equal to second threshold, the torque yield value is 0.
Preferably, it is calculated and is handled according to the initial compensation electric current and the electric current that smoothly switches, obtained and defeated
Friciton compensation current value out, comprising:
Read group total is carried out to the initial compensation electric current and the electric current that smoothly switches, obtains rectification building-out electric current；
Amplitude limiting processing is carried out to the rectification building-out electric current, obtains and exports the friciton compensation current value.
A kind of controller of electric boosting steering system, comprising: memory；Wherein:
Program is stored in the memory, described program is used to execute any of the above-described electric boosting steering system
Friction compensation method.
A kind of electric boosting steering system, the controller including electric boosting steering system described above.
The friction compensation method of a kind of electric boosting steering system provided by the invention, by surpassing to steering wheel torque
Preceding correction obtains smoothly switching electric current；And it smoothly switches electric current with this to carry out the initial compensation electric current being normally calculated
Amendment, and then realize the effective compensation for frictional force hysteretic characteristic, it avoids revolving speed zero-bit switching in the prior art and is easy to draw
The problem of playing torque jump.
Detailed description of the invention
Technical solution in order to illustrate the embodiments of the present invention more clearly or in the prior art to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, it is only this that interior attached drawing, which is described below,
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of the friction compensation method of electric boosting steering system provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides electric boosting steering system friction compensation method another process
Figure；
Fig. 3 be another embodiment of the present invention provides steering wheel rotational angular velocity, between speed and friciton compensation torque
Relation schematic diagram；
Fig. 4 be another embodiment of the present invention provides steering wheel torque and torque yield value between relation schematic diagram；
Fig. 5 be another embodiment of the present invention provides to steering wheel torque carry out proportion-plus-derivative control control block diagram；
Fig. 6 be another embodiment of the present invention provides electric boosting steering system controller execute friction compensation method
Control block diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of friction compensation method of electric boosting steering system, applied to electric boosting steering system
In controller, the problem of torque jumps is easily caused to avoid the switching of revolving speed zero-bit in the prior art.It, should in order to realize this method
Controller needs are connected with the multiple sensors in vehicle, and are communicated with entire car controller or vehicle other controllers,
Practical connection relationship is same as the prior art, and details are not described herein again.
Specifically, referring to Figure 1, the friction compensation method of the electric boosting steering system includes:
S101, it is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electricity
Stream；
When driver carries out steering operation, will detect to obtain steering wheel according to the steering operation by steering torque sensor
Torque T；Meanwhile it detecting to obtain steering angle θ by steering angle sensor or being detected to obtain direction disk turn by angular-rate sensor
Dynamic angular velocity omega.In addition, can be parsed by bus message in the case where vehicle is in traveling or vehicle speed sensor passes
Defeated hard signal obtains vehicle velocity V, herein without limitation, depending on its specific application environment, in protection scope of the present invention
It is interior.Each sensor detects after obtaining corresponding signal, is sent in the controller of the electric boosting steering system.
In practical application, if the controller of electric boosting steering system can receive direction disk rotational angular velocity ω,
Directly carry out subsequent calculating；If the received controller is steering angle θ, steering angle θ is obtained into direction disk by differential
Rotational angular velocity ω, then carry out subsequent calculating；Depending on its specific application environment, it is within the scope of the invention.
After obtaining steering wheel torque T, steering wheel rotational angular velocity ω and vehicle velocity V, which can be according to direction
Initial compensation electric current is calculated in disk torque T, steering wheel rotational angular velocity ω and vehicle velocity V.But if driver turn direction
Disk reaches reverse directions disk after a certain angle, then will cause the lag of initial compensation electric current due to the lag of rotational angular velocity；
If directly exporting with the initial compensation electric current to motor, the jump of driver's steering moment will be will appear.Therefore, it is necessary to pass through
Step S102 obtains an auxiliary current value for being modified to the initial compensation electric current.
S102, anticipatory control is carried out to steering wheel torque, obtains smoothly switching electric current；
Specifically can be by carrying out proportion-plus-derivative control to direction disk torque T, Lai Shixian is for direction disk torque T's
Anticipatory control obtains smoothly switching electric current.
It is worth noting that step S102, which is not solely used for driver turn steering wheel, reaches after a certain angle reversion side again
To disk, i.e., in the case where the switching of revolving speed zero-bit；Steering it is any during, by the way that step S102 is obtained, this smoothly switches electricity
Stream, can be modified initial compensation electric current by subsequent step.Also, the execution sequence of step S101 and S102 are not
It limits successively, also may be performed simultaneously, as long as the initial compensation electric current can be obtained and smoothly switch electric current, i.e., executable step
Rapid S103.
S103, it according to initial compensation electric current and smoothly switches electric current and is calculated and handled, obtain and export friciton compensation
Current value.
The initial compensation electric current being normally calculated is modified with the electric current that smoothly switches with advanced characteristic, it can
The control response degree turned near switching point is improved, realizes the steering of smooth, and then realize for frictional force hysteretic characteristic
Effective compensation, achieve the purpose that driver's steering moment is smooth excessive, improve the impression of riding manipulation.
The friction compensation method of the electric boosting steering system provided in this embodiment by the above process can be effective
Avoid the problem that the switching of revolving speed zero-bit easily causes torque jump in the prior art.
Another embodiment of the present invention additionally provides a kind of friction compensation method of specific electric boosting steering system, upper
On the basis for stating embodiment and Fig. 1, it is preferred that as shown in Fig. 2, its step S101 includes:
S111, according to steering wheel rotational angular velocity and speed, determine expectation friciton compensation electric current；
Specifically, being searched corresponding with steering wheel rotational angular velocity ω and vehicle velocity V first in the first preset relation table
It is expected that friciton compensation current absolute value；Then, according to desired friciton compensation current absolute value and steering wheel rotational angular velocity ω
Direction obtains expectation friciton compensation electric current；The direction of the expectation friciton compensation sense of current and steering wheel rotational angular velocity ω
Unanimously.
The first preset relation table is the three-dimensional curve that one group of parameter can demarcate, and in practical application, can pass through mechanical turn
Tested to system dynamics relationship or train experiment, first to steering wheel rotational angular velocity ω, vehicle velocity V and friciton compensation torque it
Between relationship demarcated, calibration result is as shown in Figure 3, wherein 1 < speed of speed, 2 < speed 3；Then, further according to friciton compensation
Relationship between torque and expectation friciton compensation current absolute value is mapped, and then obtains the first preset relation table.
S112, torque yield value is determined according to steering wheel torque；
Specifically, torque yield value corresponding with steering wheel torque T-phase can be searched in the second preset relation table.
Second preset relation table is the two-dimensional curve that one group of parameter can demarcate, and can be surveyed by train experiment in practical application
Examination is demarcated to obtain the two-dimensional curve；In the second preset relation table: when steering wheel torque T is less than or equal to first threshold T0
When, torque yield value is 1；When steering wheel torque T is greater than first threshold T0 and is less than second threshold T1, torque yield value is greater than
0 and less than 1；When steering wheel torque T is more than or equal to second threshold T1, torque yield value is 0；That is, passing through energy of tabling look-up
A torque yield value less than or equal to 1 is accessed, as shown in Figure 4.
In practical application, sequencing for step S111 and S112 and without limitation be may be performed simultaneously, can also be with
It executes according to the respective period, herein without limitation, depending on its specific application environment, is within the scope of the invention；
If after obtaining expectation friciton compensation electric current and torque yield value, i.e., executable step S113.
S113, the product for calculating expectation friciton compensation electric current and torque yield value, obtain initial compensation electric current.
It is expected that friciton compensation electric current is multiplied with torque yield value, friciton compensation can be limited in a certain specific region and be sent out
Wave compensating action；And it is possible to according to the needs of actual application environment, by first threshold T0 and second threshold T1 and centre
Slope of a curve is determined, such as T0=0.5Nm, T1=1Nm according to desired friciton compensation current value size；It does not do and has herein
Body limits, and depending on its application environment, is within the scope of the invention.
In addition, in step S102 shown in Fig. 1, it, specifically can be to the party when carrying out anticipatory control to steering wheel torque T
Proportion-plus-derivative control shown in fig. 5 is carried out to disk torque T, then from steering wheel torque T to the transfer function H for smoothly switching electric current
(s) are as follows: H (s)=K1+s × K2, wherein s is complex variable, and K1 is proportional gain, and K2 is the differential gain；That is, by direction
Disk torque T obtains smoothly switching electric current by a high-pass filter, becomes by frequency amplitude response when high-pass filter high frequency
Big such feature, inhibits shake, improves the responsiveness of high frequency side.
Therefore, during reverse directions disk after driver turn steering wheel reaches a certain angle, since steering wheel turns
The lag of dynamic angular velocity omega, when causing the lag of expectation friciton compensation electric current, the jump of driver's steering moment occur, this implementation
Example utilizes the advanced characteristic of phase of high-pass filter, this hysteresis of effective compensation by step S102, then is by step S103
The control response degree turned near switching point can be improved, realize the steering of smooth, reach the smooth mistake of driver's steering moment
The purpose of degree improves the impression of riding manipulation.
In above-mentioned transmission function formula, proportional gain K1 and differential gain K2 according to friciton compensation current amplitude size and
The lag time of steering wheel rotational angular velocity ω determines.
Furthermore for the step S103 in Fig. 1, it is preferred that as shown in Fig. 2, specifically including:
S131, to initial compensation electric current and smoothly switch electric current carry out read group total, obtain rectification building-out electric current；
On the basis for the initial compensation electric current being normally calculated, superposition carries out anticipatory control to steering wheel torque T
What is obtained afterwards smoothly switches electric current, that is, to smoothly switch electric current to the initial benefit being normally calculated with advanced characteristic
It repays electric current to be modified, the control response degree turned near switching point can be effectively improved, the steering of smooth is realized, reach and drive
The smooth excessive purpose of the person's of sailing steering moment.
S132, amplitude limiting processing is carried out to rectification building-out electric current, obtains and exports friciton compensation current value.
In practical application, in order to ensure the operational safety of motor, after should also carrying out amplitude limiting processing to rectification building-out electric current
It is exported again to motor, and then realizes the safe and effective control for motor operation.
In conclusion the friction compensation method provided through this embodiment, can obtain control block diagram as shown in FIG. 6；
Remaining principle is same as the previously described embodiments, no longer repeats one by one herein.
Another embodiment of the present invention additionally provides a kind of controller of electric boosting steering system, is set in vehicle；It is real
In the application of border, vehicle can be set multiple controllers, i.e. ECU (Elecmal Control Unit, electronic control unit), often
A ECU is responsible for different functions, and carries out information exchange by communication between each ECU.Although the control system on vehicle is got over
Come more complicated, but there is still a need for have a most basic structure to each ECU: microprocessor (namely above-mentioned processor), memory, defeated
Enter/output interface, analog-digital converter and shaping, the large scale integrated circuits such as driving；It is not specifically limited herein, depending on its application
Depending on environment, it is within the scope of the invention.
The controller of electric boosting steering system provided by the present embodiment is mainly responsible for execution friction compensation method；Tool
Body is multiple programs to be stored in the memory by the controller, and one of program is for executing the friciton compensation side
Method；That is, being at least stored with following steps in the memory:
It is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electric current；
Anticipatory control is carried out to steering wheel torque, obtains smoothly switching electric current；
It according to initial compensation electric current and smoothly switches electric current and is calculated and handled, obtain and export friciton compensation electric current
Value.
Preferably, anticipatory control is carried out to steering wheel torque, obtains the step of smoothly switching electric current, comprising:
Proportion-plus-derivative control is carried out to steering wheel torque, obtains smoothly switching electric current.
Preferably, it is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electricity
The step of stream, comprising:
According to steering wheel rotational angular velocity and speed, expectation friciton compensation electric current is determined；
Torque yield value is determined according to steering wheel torque；
The product for calculating expectation friciton compensation electric current and torque yield value, obtains initial compensation electric current.
Preferably, according to steering wheel rotational angular velocity and speed, the step of it is expected friciton compensation electric current is determined, comprising:
In the first preset relation table, expectation friciton compensation electricity corresponding with steering wheel rotational angular velocity and speed is searched
Flow absolute value；
According to the direction of desired friciton compensation current absolute value and steering wheel rotational angular velocity, expectation friciton compensation electricity is obtained
Stream.
Preferably, the first preset relation table is tested to obtain by mechanical steering system kinetics relation or train experiment
Three-dimensional curve.
Preferably, the step of torque yield value being determined according to steering wheel torque, comprising:
In the second preset relation table, torque yield value corresponding with steering wheel torque is searched.
Preferably, the second preset relation table is the two-dimensional curve tested by train experiment；
And in the second preset relation table:
When steering wheel torque is less than or equal to first threshold, torque yield value is 1；
When steering wheel torque is greater than first threshold and is less than second threshold, torque yield value is greater than 0 and less than 1；
When steering wheel torque is more than or equal to second threshold, torque yield value is 0.
Preferably, it according to initial compensation electric current and smoothly switches electric current and is calculated and handled, obtain and export friction mending
The step of repaying current value, comprising:
To initial compensation electric current and electric current progress read group total is smoothly switched, obtains rectification building-out electric current；
Amplitude limiting processing is carried out to rectification building-out electric current, obtains and exports friciton compensation current value.
Remaining principle is identical as any of the above-described embodiment, no longer repeats one by one herein.
Another embodiment of the present invention additionally provides a kind of electric boosting steering system, including a controller, practical application
In should include also motor, transmission mechanism and various kinds of sensors etc., specific connection relationship is same as the prior art, herein
No longer repeat one by one.
The controller is mainly responsible for execution friction compensation method, and specific implementation procedure includes:
It is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electric current；
Anticipatory control is carried out to steering wheel torque, obtains smoothly switching electric current；
It according to initial compensation electric current and smoothly switches electric current and is calculated and handled, obtain and export friciton compensation electric current
Value.
Preferably, anticipatory control is carried out to steering wheel torque, obtains the step of smoothly switching electric current, comprising:
Proportion-plus-derivative control is carried out to steering wheel torque, obtains smoothly switching electric current.
Preferably, it is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electricity
The step of stream, comprising:
According to steering wheel rotational angular velocity and speed, expectation friciton compensation electric current is determined；
Torque yield value is determined according to steering wheel torque；
The product for calculating expectation friciton compensation electric current and torque yield value, obtains initial compensation electric current.
Preferably, according to steering wheel rotational angular velocity and speed, the step of it is expected friciton compensation electric current is determined, comprising:
In the first preset relation table, expectation friciton compensation electricity corresponding with steering wheel rotational angular velocity and speed is searched
Flow absolute value；
According to the direction of desired friciton compensation current absolute value and steering wheel rotational angular velocity, expectation friciton compensation electricity is obtained
Stream.
Preferably, the first preset relation table is tested to obtain by mechanical steering system kinetics relation or train experiment
Three-dimensional curve.
Preferably, the step of torque yield value being determined according to steering wheel torque, comprising:
In the second preset relation table, torque yield value corresponding with steering wheel torque is searched.
Preferably, the second preset relation table is the two-dimensional curve tested by train experiment；
And in the second preset relation table:
When steering wheel torque is less than or equal to first threshold, torque yield value is 1；
When steering wheel torque is greater than first threshold and is less than second threshold, torque yield value is greater than 0 and less than 1；
When steering wheel torque is more than or equal to second threshold, torque yield value is 0.
Preferably, it according to initial compensation electric current and smoothly switches electric current and is calculated and handled, obtain and export friction mending
The step of repaying current value, comprising:
To initial compensation electric current and electric current progress read group total is smoothly switched, obtains rectification building-out electric current；
Amplitude limiting processing is carried out to rectification building-out electric current, obtains and exports friciton compensation current value.
Remaining principle is same as the previously described embodiments, no longer repeats one by one herein.As long as can be realized by its controller
The electric boosting steering system for stating friction compensation method, is within the scope of the invention.
Each embodiment is described in a progressive manner in the present invention, the highlights of each of the examples are with other realities
The difference of example is applied, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part illustration
?.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, all of which are still within the scope of protection of the technical scheme of the invention.
Claims (10)
1. a kind of friction compensation method of electric boosting steering system characterized by comprising
It is calculated according to steering wheel rotational angular velocity, speed and steering wheel torque, obtains initial compensation electric current；
Anticipatory control is carried out to the steering wheel torque, obtains smoothly switching electric current；
It is calculated and is handled according to the initial compensation electric current and the electric current that smoothly switches, obtained and export friciton compensation electricity
Flow valuve.
2. the friction compensation method of electric boosting steering system according to claim 1, which is characterized in that the direction
Disk torque carries out anticipatory control, obtains smoothly switching electric current, comprising:
Proportion-plus-derivative control is carried out to the steering wheel torque, obtains described smoothly switching electric current.
3. the friction compensation method of electric boosting steering system according to claim 1 or 2, which is characterized in that according to side
It is calculated to disk rotational angular velocity, speed and steering wheel torque, obtains initial compensation electric current, comprising:
According to the steering wheel rotational angular velocity and the speed, expectation friciton compensation electric current is determined；
Torque yield value is determined according to the steering wheel torque；
The product for calculating expectation the friciton compensation electric current and the torque yield value, obtains the initial compensation electric current.
4. the friction compensation method of electric boosting steering system according to claim 3, which is characterized in that according to the side
To disk rotational angular velocity and the speed, expectation friciton compensation electric current is determined, comprising:
In the first preset relation table, searches expectation friction corresponding with the steering wheel rotational angular velocity and the speed and mend
Repay current absolute value；
According to the direction of expectation the friciton compensation current absolute value and the steering wheel rotational angular velocity, obtains the expectation and rub
Wipe compensation electric current.
5. the friction compensation method of electric boosting steering system according to claim 4, which is characterized in that described first is pre-
If relation table is the three-dimensional curve tested by mechanical steering system kinetics relation or train experiment.
6. the friction compensation method of electric boosting steering system according to claim 3, which is characterized in that according to the side
Torque yield value is determined to disk torque, comprising:
In the second preset relation table, the torque yield value corresponding with the steering wheel torque is searched.
7. the friction compensation method of electric boosting steering system according to claim 6, which is characterized in that described second is pre-
If relation table is the two-dimensional curve tested by train experiment；
And in the second preset relation table:
When the steering wheel torque is less than or equal to first threshold, the torque yield value is 1；
When the steering wheel torque is greater than the first threshold and is less than second threshold, the torque yield value is greater than 0 and small
In 1；
When the steering wheel torque is more than or equal to second threshold, the torque yield value is 0.
8. the friction compensation method of electric boosting steering system according to claim 1 or 2, which is characterized in that according to institute
It states initial compensation electric current and the electric current that smoothly switches is calculated and handled, obtain and export friciton compensation current value, comprising:
Read group total is carried out to the initial compensation electric current and the electric current that smoothly switches, obtains rectification building-out electric current；
Amplitude limiting processing is carried out to the rectification building-out electric current, obtains and exports the friciton compensation current value.
9. a kind of controller of electric boosting steering system characterized by comprising memory；Wherein:
Program is stored in the memory, described program requires any electric power steering of 1-8 for perform claim
The friction compensation method of system.
10. a kind of electric boosting steering system, which is characterized in that including electric boosting steering system as claimed in claim 9
Controller.
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| CN201811452845.9A CN109533013B (en) | 2018-11-30 | 2018-11-30 | Electric power steering system and friction compensation method and controller thereof |
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| CN201811452845.9A CN109533013B (en) | 2018-11-30 | 2018-11-30 | Electric power steering system and friction compensation method and controller thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111376973A (en) * | 2020-03-30 | 2020-07-07 | 北京经纬恒润科技有限公司 | Electric power steering control method, device and system |
| CN111976824A (en) * | 2019-05-21 | 2020-11-24 | 上海汽车集团股份有限公司 | Inertia compensation method of electric power steering system and related device |
| CN112187134A (en) * | 2020-09-01 | 2021-01-05 | 瑞声科技（南京）有限公司 | Motor friction compensation method, system and computer readable storage medium thereof |
| CN116767342A (en) * | 2023-08-24 | 2023-09-19 | 天津德星智能科技有限公司 | EPS system reversing salient point eliminating method |
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| CN116767342B (en) * | 2023-08-24 | 2023-10-31 | 天津德星智能科技有限公司 | EPS system reversing salient point eliminating method |
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