CN109747706A - Compensation method, system and the vehicle of power steering - Google Patents
Compensation method, system and the vehicle of power steering Download PDFInfo
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- CN109747706A CN109747706A CN201910033837.9A CN201910033837A CN109747706A CN 109747706 A CN109747706 A CN 109747706A CN 201910033837 A CN201910033837 A CN 201910033837A CN 109747706 A CN109747706 A CN 109747706A
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Abstract
The invention discloses a kind of compensation method of power steering, system and vehicles, this method comprises: the second basic compensating torque when obtaining first foundation compensating torque and the corresponding right turn when corresponding to left steering；When vehicle is run, corresponding penalty coefficient is determined according to speed and direction disk rotating speed；The offset of power steering is obtained according to the penalty coefficient and corresponding to the first foundation compensating torque of current steering wheel rotation direction or the second basic compensating torque.The differentiation compensation of left and right vehicle wheel steering force may be implemented in this method, is effectively improved the problem of left and right turn power unevenness, to promote steering feel, keeps driver more comfortable when driving.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of compensation method of power steering, system and vehicle.
Background technique
With the progress of electronic technology, electronic product on automobile using more more and more universal.Electric boosting steering system
Because compact-sized, energy-saving and emission-reduction, the instruction factors such as feature-rich are used widely.People are to vehicle electric servo steering system
Requirement from incipient turning function shift in demand be comfort demand, such as: occur electric boosting steering system with speed
Power-assisted, actively return just, active damping, the functions such as end protection, or even combine intelligent, develop automatic parking, lane auxiliary
The functions such as holding.
In the related technology, fixed steering force compensation standard is usually set in vehicle release, i.e. calibration in advance is good solid
Fixed offset, still, due to the difference of components manufacture and vehicle assembly, there are different left and right turn power for different vehicle
Difference causes to cannot achieve difference there may be unmatched situation in different vehicle using same steering force compensation standard
Change compensation, to influence to turn to feel.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of compensation method of power steering.This method may be implemented
The differentiation of left and right vehicle wheel steering force compensates, and is effectively improved the problem of left and right turn power unevenness, to promote steering feel, makes to drive
The person of sailing is more comfortable when driving.
It is another object of the present invention to the compensation systems for proposing a kind of power steering.
Another object of the present invention is to propose a kind of vehicle.
To achieve the goals above, the embodiment of the first aspect of the present invention discloses a kind of compensation side of power steering
Method, comprising the following steps: obtain the second basis when first foundation compensating torque and the corresponding right turn when corresponding to left steering
Compensating torque；When vehicle is run, corresponding penalty coefficient is determined according to speed and direction disk rotating speed；According to the penalty coefficient and
The benefit of power steering is obtained corresponding to the first foundation compensating torque of current steering wheel rotation direction or the second basic compensating torque
Repay value.
The compensation method of power steering according to an embodiment of the present invention can obtain the base of left and right turn by survey calculation
Plinth compensating torque determines the penalty coefficient under different condition in conjunction with speed and direction disk rotating speed, and then obtains power steering
Offset realizes the differentiation compensation of left and right vehicle wheel steering force, is effectively improved the problem of left and right turn power unevenness, turns to be promoted
To feel, keep driver more comfortable when driving.
In one embodiment of the invention, the first foundation compensating torque and correspondence obtained when corresponding to left steering
The second basic compensating torque when right turn, comprising: stationary vehicle, when obtaining with desired speed control steering wheel twocouese rotation
Left steering torque and right turn torque；Calculate the average value of the left steering torque and the average value of the right turn torque；
Obtain corresponding to the first base when left steering according to the average value of the average value of the left steering torque and the right turn torque
The second basic compensating torque when plinth compensating torque and corresponding right turn.
In one embodiment of the invention, the first foundation compensating torque MI is left=[(MIt is left+MIt is right)/2]-MIt is left, described
Two basic compensating torque MI is right=[(MIt is left+MIt is right)/2]-MIt is right, wherein the MIt is leftFor the average value of left steering torque, the MIt is rightFor the right side
The average value of steering moment.
In one embodiment of the invention, it when the vehicle is run, is determined according to speed and direction disk rotating speed corresponding
Penalty coefficient, comprising: when direction disk rotating speed is less than or equal to desired speed and speed is less than or equal to preset vehicle speed, the benefit
Repaying coefficient is 1；When direction disk rotating speed is greater than the desired speed and speed is less than or equal to the preset vehicle speed, the compensation
Coefficient is 0.95；When direction disk rotating speed is less than or equal to the desired speed and speed is greater than the preset vehicle speed, the benefit
Repaying coefficient is 1.1；When direction disk rotating speed is greater than the desired speed and speed is greater than the preset vehicle speed, the penalty coefficient
It is 1.05.
In one embodiment of the invention, the compensation when condition is converted, by difference arithmetic to the power steering
Value carries out excessive.
The embodiment of second aspect of the present invention discloses a kind of compensation system of power steering, comprising: obtains module, is used for
Obtain the second basic compensating torque when first foundation compensating torque and the corresponding right turn when corresponding to left steering；Penalty coefficient
Determining module, for determining corresponding penalty coefficient according to speed and direction disk rotating speed in vehicle operation；Compensating module is used
It is compensated according to the penalty coefficient and corresponding to the first foundation compensating torque of current steering wheel rotation direction or the second basis
Torque obtains the offset of power steering.
The compensation system of power steering according to an embodiment of the present invention can obtain the base of left and right turn by survey calculation
Plinth compensating torque determines the penalty coefficient under different condition in conjunction with speed and direction disk rotating speed, and then obtains power steering
Offset realizes the differentiation compensation of left and right vehicle wheel steering force, is effectively improved the problem of left and right turn power unevenness, turns to be promoted
To feel, keep driver more comfortable when driving.
In one embodiment of the invention, the acquisition module is used for: stationary vehicle, is obtained with desired speed controlling party
Left steering torque and right turn torque when being rotated to disk twocouese；Calculate the left steering torque average value and the right-hand rotation
To the average value of torque；It is obtained corresponding to a left side according to the average value of the average value of the left steering torque and the right turn torque
First foundation compensating torque when steering and the second basic compensating torque when corresponding right turn.
In one embodiment of the invention, the first foundation compensating torque MI is left=[(MIt is left+MIt is right)/2]-MIt is left, described
Two basic compensating torque MI is right=[(MIt is left+MIt is right)/2]-MIt is right, wherein the MIt is leftFor the average value of left steering torque, the MIt is rightFor the right side
The average value of steering moment.
In one embodiment of the invention, the penalty coefficient determining module is used for: when direction, disk rotating speed is less than or waits
In desired speed and when speed is less than or equal to preset vehicle speed, the penalty coefficient is 1；When direction disk rotating speed is greater than described make a reservation for
When revolving speed and speed are less than or equal to the preset vehicle speed, the penalty coefficient is 0.95；When direction, disk rotating speed is less than or equal to
When the desired speed and speed are greater than the preset vehicle speed, the penalty coefficient is 1.1；When direction disk rotating speed is greater than described pre-
When determining revolving speed and speed and being greater than the preset vehicle speed, the penalty coefficient is 1.05.
The embodiment of third aspect present invention discloses a kind of vehicle, comprising: described in above-mentioned second aspect embodiment
The compensation system of power steering.The vehicle can obtain the basic compensating torque of left and right turn by survey calculation, in conjunction with vehicle
Speed and direction disk rotating speed determine the penalty coefficient under different condition, and then obtain the offset of power steering, realize left and right vehicle wheel
The differentiation of steering force compensates, and is effectively improved the problem of left and right turn power unevenness, to promote steering feel, is driving driver
It is more comfortable when sailing.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the flow chart of the compensation method of power steering according to an embodiment of the invention；
Fig. 2 is the structural block diagram of the compensation system of power steering according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Compensation method, system and the automobile of power steering according to an embodiment of the present invention are described below in conjunction with attached drawing.
Fig. 1 is the flow chart of the compensation method of power steering according to an embodiment of the invention.
As shown in Figure 1, the compensation method of power steering according to an embodiment of the invention, includes the following steps:
S101: the second basis compensation when first foundation compensating torque and the corresponding right turn when corresponding to left steering is obtained
Torque.
Wherein, first foundation compensating torque and the second basic compensating torque can be demarcated to obtain in advance.
As a specific example, can be instructed by input, into compensation model.In stationary vehicle, with predetermined
Revolving speed controls steering wheel, measures left and right turn torque, and the basic compensating torque of left and right turn is obtained by calculation, pre-saves
Into vehicle.
When the difference of the basic compensating torque of left and right turn is less than or equal to 0.1Nm, power steering compensation system is not opened
It opens.
Such as: setting stationary vehicle, direction disk rotating speed are 180deg/s, and control steering wheel twocouese rotation is measured by a left side
The limit goes to the steering moment of limit on the right-right-hand limit, calculates the average value M that the steering moment of limit on the right-right-hand limit is gone to by limit on the leftIt is left；Measurement by
Limit on the right-right-hand limit goes to the steering moment of limit on the left, calculates the average value M that the steering moment of limit on the left is gone to by limit on the right-right-hand limitIt is right。
In the above description, being gone to limit on the right-right-hand limit by limit on the left and gone to limit on the left by limit on the right-right-hand limit can be steering wheel rotation
Total travel damaged certainly in order to avoid turning to the limit to steering wheel, as a specific example of the invention, by
Limit on the left, which goes to limit on the right-right-hand limit and goes to limit on the left by limit on the right-right-hand limit, can choose the 95% conduct effectively input of stroke or full corner.
It is understood that direction disk rotating speed is merely exemplary for 180deg/s, it can be appropriate according to specific requirements
Adjustment.
First foundation compensating torque when corresponding to left steering and the second basic compensating torque root when corresponding to right turn
It is obtained according to the average value of left steering torque and right turn torque.Wherein, first foundation compensating torque calculation formula is MI is left=[(MIt is left
+MIt is right)/2]-MIt is left, the calculation formula of the second basic compensating torque is MI is right=[(MIt is left+MIt is right)/2]–MIt is right, MIt is leftFor the flat of left steering torque
Mean value, MIt is rightFor the average value of right turn torque.
S102: when vehicle is run, corresponding penalty coefficient is determined according to speed and direction disk rotating speed.
Specifically, penalty coefficient will combine speed and direction disk rotating speed when choosing.When direction disk rotating speed and speed all
When smaller, by basic compensating torque compensation；When direction, disk rotating speed is larger, and when speed is smaller, take lesser penalty coefficient；The side of working as
It is smaller to disk rotating speed, and when speed is larger, take biggish penalty coefficient；When direction disk rotating speed and all larger speed, compensation system
Number takes median.
Such as: when direction disk rotating speed is less than or equal to desired speed and speed is less than or equal to preset vehicle speed, compensation system
Number is but is not limited to 1；When direction disk rotating speed, which is greater than desired speed and speed, is less than or equal to preset vehicle speed, penalty coefficient be but
It is not limited to 0.95；When direction disk rotating speed, which is less than or equal to desired speed and speed, is greater than preset vehicle speed, penalty coefficient is but not
It is limited to 1.1；When direction disk rotating speed is greater than desired speed and speed is greater than preset vehicle speed, penalty coefficient is but is not limited to 1.05.
In the above description, steering wheel desired speed is but is not limited to 180deg/s, and preset vehicle speed is but is not limited to
100km/h。
In addition, the specific value of the penalty coefficient of such as 1,0.95,1.1 and 1.05 is merely exemplary, it can be according to specific
It needs to carry out adjustment appropriate.
S103: according to penalty coefficient and corresponding to the first foundation compensating torque or the second base of current steering wheel rotation direction
Plinth compensating torque obtains the offset of power steering.
After obtaining penalty coefficient, the offset of left and right turn power-assisted under different condition can be determined according to penalty coefficient,
To realize the differentiation compensation of power steering.
Such as: speed is less than 100km/h, and direction disk rotating speed is greater than 180deg/s, by above-mentioned example it is found that penalty coefficient
Take 0.95, it is assumed that left steering, first foundation compensating torque are 100Nm, then are 95Nm after correcting.
In addition, being carried out by offset of the difference arithmetic to power steering excessive when condition conversion.Such as: work as vehicle
It when direction disk rotating speed is smaller, steps on the juice suddenly, so that speed is increased to a larger value from a smaller value, at this moment, steering helps
The offset of power is carried out excessively by difference arithmetic, so that driver be made not to be clearly felt that torque is mutated, promotes driving experience.
The compensation method of power steering according to an embodiment of the present invention can obtain the base of left and right turn by survey calculation
Plinth compensating torque determines the penalty coefficient under different condition in conjunction with speed and direction disk rotating speed, and then obtains power steering
Offset realizes the differentiation compensation of left and right vehicle wheel steering force, is effectively improved the problem of left and right turn power unevenness, turns to be promoted
To feel, keep driver more comfortable when driving.
Fig. 2 is the structural block diagram of the compensation system of power steering according to an embodiment of the invention.As shown in Fig. 2, root
According to the compensation system 200 of the power steering of one embodiment of the invention, comprising: obtain module 210, penalty coefficient determining module
220, compensating module 230.
Wherein, module 210 is obtained to be used to obtain first foundation compensating torque when corresponding to left steering and correspond to right turn
When the second basic compensating torque.Penalty coefficient determining module 220 is used in vehicle operation, according to speed and direction disk rotating speed
Determine corresponding penalty coefficient.Compensating module 230 is used for according to the penalty coefficient and corresponds to current steering wheel rotation direction
First foundation compensating torque or the second basic compensating torque obtain the offset of power steering.
In one embodiment of the invention, it obtains module 210 to be used for: in stationary vehicle, obtain with desired speed control
Left steering torque and right turn torque when steering wheel twocouese processed rotates；Calculate the average value of the left steering torque and described
The average value of right turn torque；Obtain corresponding to first when left steering according to the average value of left steering torque and right turn torque
Basic compensating torque and the second basic compensating torque when corresponding to right turn.
In one embodiment of the invention, first foundation compensating torque calculation formula is MI is left=[(MIt is left+MIt is right)/2]-MIt is left,
The calculation formula of second basic compensating torque is MI is right=[(MIt is left+MIt is right)/2]–MIt is right, wherein MIt is leftFor the average value of left steering torque,
MIt is rightFor the average value of right turn torque.
In one embodiment of the invention, penalty coefficient determining module 220 is used for: when direction, disk rotating speed is less than or equal to
When desired speed and speed are less than or equal to preset vehicle speed, penalty coefficient 1；When direction disk rotating speed is greater than desired speed and speed
When less than or equal to preset vehicle speed, penalty coefficient 0.95；When direction disk rotating speed is less than or equal to desired speed and speed is greater than
When preset vehicle speed, penalty coefficient 1.1；When direction disk rotating speed is greater than desired speed and speed is greater than preset vehicle speed, compensation system
Number is 1.05.
The compensation system of power steering according to an embodiment of the present invention can obtain the base of left and right turn by survey calculation
Plinth compensating torque determines the penalty coefficient under different condition in conjunction with speed and direction disk rotating speed, and then obtains power steering
Offset realizes the differentiation compensation of left and right vehicle wheel steering force, is effectively improved the problem of left and right turn power unevenness, turns to be promoted
To feel, keep driver more comfortable when driving.
It should be noted that the specific implementation of the compensation system of the power steering of the embodiment of the present invention and the present invention are real
The specific implementation for applying the compensation method of the power steering of example is similar, specifically refers to the description of method part, in order to reduce
Redundancy is not repeated herein.
Further, embodiment of the invention discloses a kind of vehicles, comprising: according to turning as described in the above embodiment
To the compensation system of power-assisted.The vehicle can obtain the basic compensating torque of left and right turn by survey calculation, in conjunction with speed
The penalty coefficient under different condition is determined with direction disk rotating speed, and then obtains the offset of power steering, realizes that left and right vehicle wheel turns
It is compensated to the differentiation of power, is effectively improved the problem of left and right turn power unevenness, to promote steering feel, is driving driver
Shi Gengjia is comfortable.
In addition, other functions of vehicle according to an embodiment of the present invention and effect are for those of ordinary skill in the art
For be all it is known, in order to reduce redundancy, be not repeated herein.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In addition, term " first ", " second " are used for description purposes only,
It is not understood to indicate or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.It limits as a result,
Having the feature of " first ", " second " can explicitly or implicitly include at least one of the features.In the description of the present invention,
The meaning of " plurality " is at least two, such as two, three etc., unless otherwise specifically defined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of compensation method of power steering, which comprises the following steps:
Obtain the second basic compensating torque when first foundation compensating torque and the corresponding right turn when corresponding to left steering；
When vehicle is run, corresponding penalty coefficient is determined according to speed and direction disk rotating speed；
It is mended according to the penalty coefficient and corresponding to the first foundation compensating torque of current steering wheel rotation direction or the second basis
It repays torque and obtains the offset of power steering.
2. the compensation method of power steering according to claim 1, which is characterized in that when the acquisition corresponds to left steering
First foundation compensating torque and the second basic compensating torque when corresponding right turn, comprising:
Stationary vehicle, left steering torque and right turn torque when obtaining with desired speed control steering wheel twocouese rotation；
Calculate the average value of the left steering torque and the average value of the right turn torque；
Obtain corresponding to the when left steering according to the average value of the average value of the left steering torque and the right turn torque
The second basic compensating torque when one basic compensating torque and corresponding right turn.
3. the compensation method of power steering according to claim 1 or 2, which is characterized in that the first foundation balancing force
Square MI is left=[(MIt is left+MIt is right)/2]-MIt is left, the described second basic compensating torque MI is right=[(MIt is left+MIt is right)/2]-MIt is right, wherein the MIt is leftFor a left side
The average value of steering moment, the MIt is rightFor the average value of right turn torque.
4. the compensation method of power steering according to claim 1, which is characterized in that when the vehicle is run, according to vehicle
Speed and direction disk rotating speed determine corresponding penalty coefficient, comprising:
When direction disk rotating speed is less than or equal to desired speed and speed is less than or equal to preset vehicle speed, the penalty coefficient is 1；
When direction disk rotating speed is greater than the desired speed and speed is less than or equal to the preset vehicle speed, the penalty coefficient is
0.95；
When direction disk rotating speed is less than or equal to the desired speed and speed is greater than the preset vehicle speed, the penalty coefficient is
1.1；
When direction disk rotating speed is greater than the desired speed and speed is greater than the preset vehicle speed, the penalty coefficient is 1.05.
5. the compensation method of power steering according to claim 4, which is characterized in that further include: when condition conversion, lead to
Difference arithmetic is crossed to carry out excessively the offset of the power steering.
6. a kind of compensation system of power steering characterized by comprising
Module is obtained, first foundation compensating torque when corresponding to left steering for obtaining and second when corresponding to right turn are basic
Compensating torque；
Penalty coefficient determining module, for determining corresponding penalty coefficient according to speed and direction disk rotating speed in vehicle operation；
Compensating module, for according to the penalty coefficient and corresponding to the first foundation compensating torque of current steering wheel rotation direction
Or second basic compensating torque obtain the offset of power steering.
7. the compensation system of power steering according to claim 6, which is characterized in that the acquisition module is used for:
Stationary vehicle, left steering torque and right turn torque when obtaining with desired speed control steering wheel twocouese rotation；
Calculate the average value of the left steering torque and the average value of the right turn torque；
Obtain corresponding to the when left steering according to the average value of the average value of the left steering torque and the right turn torque
The second basic compensating torque when one basic compensating torque and corresponding right turn.
8. the compensation system of power steering according to claim 6 or 7, which is characterized in that the first foundation balancing force
Square MI is left=[(MIt is left+MIt is right)/2]-MIt is left, the described second basic compensating torque MI is right=[(MIt is left+MIt is right)/2]-MIt is right, wherein the MIt is leftFor a left side
The average value of steering moment, the MIt is rightFor the average value of right turn torque.
9. the compensation system of power steering according to claim 6, which is characterized in that the penalty coefficient determining module is used
In:
When direction disk rotating speed is less than or equal to desired speed and speed is less than or equal to preset vehicle speed, the penalty coefficient is 1；
When direction disk rotating speed is greater than the desired speed and speed is less than or equal to the preset vehicle speed, the penalty coefficient is
0.95；
When direction disk rotating speed is less than or equal to the desired speed and speed is greater than the preset vehicle speed, the penalty coefficient is
1.1；
When direction disk rotating speed is greater than the desired speed and speed is greater than the preset vehicle speed, the penalty coefficient is 1.05.
10. a kind of vehicle characterized by comprising according to the compensation system of the described in any item power steerings of claim 6-9
System.
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| CN201910033837.9A CN109747706B (en) | 2019-01-15 | 2019-01-15 | Steering power-assisted compensation method and system and vehicle |
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| CN113581281A (en) * | 2021-08-30 | 2021-11-02 | 中汽创智科技有限公司 | Vehicle steering control method, device, equipment and storage medium |
| CN114919651A (en) * | 2022-06-16 | 2022-08-19 | 上汽通用五菱汽车股份有限公司 | Vehicle steering power assisting method, device, equipment and computer readable storage medium |
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