CN109795547A - A kind of assist torque control method, device and the vehicle of electric boosting steering system - Google Patents
A kind of assist torque control method, device and the vehicle of electric boosting steering system Download PDFInfo
- Publication number
- CN109795547A CN109795547A CN201711147053.6A CN201711147053A CN109795547A CN 109795547 A CN109795547 A CN 109795547A CN 201711147053 A CN201711147053 A CN 201711147053A CN 109795547 A CN109795547 A CN 109795547A
- Authority
- CN
- China
- Prior art keywords
- torque
- motor
- assist torque
- steering wheel
- assist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides assist torque control method, device and the vehicles of a kind of electric boosting steering system, the present invention combines the fitting function of the fitting function based on speed weight and the motor torque under different directions disk torque, after assigning speed to weight, motor assist torque can preferably coordinate the relationship of ease of steering and road feel, pass through the fitting to the motor torque under different directions disk torque, it can be according to the difference of vehicle, change the value of fitting coefficient, power-assisted effect is adjusted, the different power-assisted demands of different automobile types are preferably adapted to.The present invention is provided with steering wheel torque when motor is started to work, it is therefore prevented that the frequent starting of motor protects motor, improves the service life of motor.
Description
Technical field
The invention belongs to electric power steering technical field, in particular to a kind of assist torque of electric boosting steering system
Control method, device and vehicle.
Background technique
As the ownership of automobile increasingly increases, energy and environmental problem increasingly attracts people's attention.Compared to biography
System hydraulic power-assist steering system (Hydraulic Power Steering System, abbreviation HPS) and electric-controlled hydraulic power-assisted steering
System (Electro Hydraulic Power Steering System, abbreviation EHPS), electric boosting steering system
(Electric Power Steering, abbreviation EPS) eliminates hydraulic circuit, solves hydraulic oil and reveals this environmental problem,
Many advantages, such as EPS has energy conservation and improves manoeuvereability of automobile simultaneously is become Hyundai Motor and turns by the concern of numerous researchers
To the hot spot direction of system research and development.
The fine or not key of electric boosting steering system performance is whether the power-assisted electric current of motor is ideal power-assisted electric current,
There is good manipulation feel when guaranteeing to turn to light, high speed when low speed.Ideal assist characteristic should be able to sufficiently coordinate steering
The relationship of portability and road feel.EPS system combination speed, steering wheel torque determine the size of the power-assisted electric current of motor, protect
Card automobile obtains optimal power-assisted in full speed range, so that steering force when alleviating low speed, increases manipulation when high speed
Power, it is comparatively ideal balance it is light with it is clever between contradiction.If road feel intensity is held at good model in entire characteristic area
Within enclosing, then driver is easy to determine the size of power needed for turning under this operating condition.
Relatively common assist characteristic determines there are three types of methods, can be characterized as the curve form of three types: linear type
Assist characteristic curve；Broken line type assist characteristic curve；Curve-type Assistance Characteristics curve.
Linear type assist characteristic is as shown in Fig. 1, and assist torque can be indicated with following functional relation.
In formula: TaFor assist torque；TdThe torque measured for steering-wheel torque sensor；Td0When starting power-assisted for motor
Steering wheel torque；K is the gradient of assist characteristic；TamaxThe maximum assist torque provided for motor；TdmaxFor maximum cut-off side
To disk torque.
Broken line type assist characteristic is as shown in Fig. 2, and assist torque can be indicated with following functional relation.
In formula: TaFor assist torque；TdThe torque measured for steering-wheel torque sensor；Td0When motor starts power-assisted
Steering wheel torque；Td1Change steering wheel torque when power-assisted coefficient for EPS system；k1And k2For power-assisted gradient；TamaxFor motor
The maximum assist torque of offer；TdmaxEnd steering-wheel torque for maximum.
Curve-type Assistance Characteristics are as shown in Fig. 3, and assist torque can be indicated with following functional relation.
Wherein, TaFor assist torque；TdThe torque measured for steering-wheel torque sensor；Td0When starting power-assisted for motor
Steering wheel torque；K (v) is the gradient of assist characteristic；TamaxThe maximum assist torque provided for motor；TdmaxIt is cut for maximum
Only steering wheel torque.
More above-mentioned three kinds of assist characteristic curves, linear type is most simple, and broken line type takes second place, but linear type and fold-line-shaped
Power-assisted coefficient is a constant, cannot be adjusted with the variation of steering wheel torque, it is thus impossible to pass through the power-assisted for changing motor
Coefficient determines the best torque of motor, and the power-assisted coefficient of shaped form is a kind of preferable ideal power-assisted coefficient, which helps
The acquisition modes of force coefficient are obtained by actual measurement or are fitted by some relevant points, and motor can not be obtained
Best torque, to make EPS be difficult to provide ideal assist torque in this case to guarantee that it is light that driver turns to
And have good road feel.
Summary of the invention
The purpose of the present invention is to provide assist torque control method, device and the vehicles of a kind of electric boosting steering system
, for solving not considering in the prior art that the speed of vehicle causes the calculating of the assist torque value of electric boosting steering system not
Accurate problem.
To achieve the above object, the present invention provides a kind of assist torque control method of electric boosting steering system, packets
Include following methods scheme:
Method scheme one, includes the following steps:
1) according to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor power-assisted power
The weighing factor of square；
2) assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor power-assisted
The data of torque are fitted, the function of the assist torque of the different directions disk torque after being fitted；
3) real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and be greater than or
Equal to motor start to work when steering wheel torque when, according to different speeds to the weight and non-Tongfang of motor assist torque
To the function of the assist torque of disk torque, the practical assist torque of motor is calculated, control motor presses the practical power-assisted power
Square is exported.
Method scheme two, on the basis of method scheme one, when steering wheel torque be less than maximum cut-off steering wheel torque and
When steering wheel torque when starting to work more than or equal to motor, the practical assist torque of motor is indicated are as follows:
Wherein, TaFor the practical assist torque of motor, w (v) is weighting function of the different speeds to motor assist torque,
z(Td) be the torque of different directions disk assist torque function, v is speed, TdFor steering wheel torque, b, c0、c1And c2It is quasi-
Collaboration number.
Method scheme three, method scheme four, respectively on the basis of method scheme one or method scheme two, when what is detected
When steering wheel torque is less than steering wheel torque when motor is started to work, then the assist torque of motor reality output is 0.
Method scheme five, method scheme six, respectively on the basis of method scheme three or method scheme four, when what is detected
When steering wheel torque is greater than maximum cut-off steering wheel torque, then the assist torque of motor reality output is that motor provides most
Big assist torque.
The present invention also provides a kind of assist torque control devices of electric boosting steering system, including following device side
Case:
Device scheme one, including processor, the processor are used to execute the instruction of following methods:
(1) according to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor power-assisted
The weighing factor of torque；
(2) assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and electronic machine aided
The data of force square are fitted, the function of the assist torque of the different directions disk torque after being fitted；
(3) real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than
Or equal to motor start to work when steering wheel torque when, according to different speeds to the weight and difference of motor assist torque
The function of the assist torque of steering wheel torque, calculates the practical assist torque of motor, and control motor presses the practical power-assisted
Torque is exported.
Device scheme two, on the basis of device scheme one, when steering wheel torque be less than maximum cut-off steering wheel torque and
When steering wheel torque when starting to work more than or equal to motor, the practical assist torque of motor is indicated are as follows:
Wherein, TaFor the practical assist torque of motor, w (v) is weighting function of the different speeds to motor assist torque,
z(Td) be the torque of different directions disk assist torque function, v is speed, TdFor steering wheel torque, b, c0、c1And c2It is quasi-
Collaboration number.
Device scheme three, device scheme four, respectively on the basis of device scheme one or device scheme two, when what is detected
When steering wheel torque is less than steering wheel torque when motor is started to work, then the assist torque of motor reality output is 0.
Device scheme five, device scheme six, respectively on the basis of device scheme one or device scheme two, when what is detected
When steering wheel torque is greater than maximum cut-off steering wheel torque, then the assist torque of motor reality output is that motor provides most
Big assist torque.
Device scheme seven, on the basis of device scheme one, the processor is motor controller.
The present invention also provides a kind of vehicles, the assist torque control device including electric boosting steering system, the dress
It sets including processor, the processor is for executing to give an order:
According to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor assist torque
Weighing factor；
The assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor power-assisted power
The data of square are fitted, the function of the assist torque of the different directions disk torque after being fitted；
Real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or waits
In motor start to work when steering wheel torque when, according to different speeds to the weight and different directions of motor assist torque
The function of the assist torque of disk torque, calculates the practical assist torque of motor, and control motor presses the practical assist torque
It is exported.
The beneficial effects of the present invention are:
The present invention combines the fitting function based on speed weight and the motor assist torque under different directions disk torque
Fitting function, after assigning speed to weight, motor assist torque can preferably coordinate the relationship of ease of steering and road feel, lead to
The fitting to the motor assist torque under different directions disk torque is crossed, the value of fitting coefficient can be changed according to the difference of vehicle,
Power-assisted effect is adjusted, the different power-assisted demands of different automobile types are preferably adapted to.The present invention has fully considered speed to electronic machine aided
The influence of force square can obtain more accurate motor assist torque by means of the present invention, ensure that driver turns
To light and have good road feel.
The present invention is provided with steering wheel torque when motor is started to work, it is therefore prevented that the frequent starting of motor protects
Motor improves the service life of motor.
Detailed description of the invention
Fig. 1 is linear type assist characteristic curve synoptic diagram；
Fig. 2 is broken line type assist characteristic curve synoptic diagram；
Fig. 3 is Curve-type Assistance Characteristics curve synoptic diagram；
Fig. 4 is steering wheel input torque and assist torque graph of relation under typical speed of the invention.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing:
A kind of assist torque control method of electric boosting steering system, includes the following steps:
1, the assist torque of prime direction disk is determined
In order to avoid the frequent starting of motor, with reference to national standard about the regulation for turning to hand-power, the present invention is by initial power-assisted
Torque Td0It is set as 1.5Nm.It is less than T in steering wheel torqued0And when being greater than 0, i.e., in 0 < Td< Td0In section, EPS does not work,
Be conducive to improve the energy-saving efficiency of EPS system.The first step in order to avoid motor frequent starting, by the initial boost of motor
Torque is set as 1.5Nm.
2, the fitting function w (v) based on speed weight is determined
Motor assist torque is determined according to running state of the vehicle and power-assisted effect, and experiment measures steering resisting moment
With speed at nonlinear inverse relation.By assigning some typical speeds to weights, obtain one group of speed and weight from
Data are dissipated, obtain w (v)=e after carrying out data fittingbv。
Below by taking the relevant experimental data of specific speed and speed weighted value as an example, obtain speed as shown in Table 1 and
The relationship of speed weight.
The weight of the different speeds of table 1
According to above data relationship, data fitting is carried out using cftool tool in matlab, type function selection refers to
Number function, obtains w (v)=e-0.02142v。
3, the assist torque function z (T of the different directions disk torque under zero speed is determinedd)
Real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or waits
In motor start to work when steering wheel torque when, i.e. Tdo≤Td≤Tdmax, then according to different speeds to motor power-assisted
The function of the assist torque of the weight and different directions disk torque of torque calculates the practical assist torque of motor, controls electronic
Machine is exported by practical assist torque.As shown in figure 4, experiment measures the assist torque of different directions disk torque under zero speed,
Then fitting obtains power-assisted function z (Td), z (Td) it is assist torque under different directions disk torque input condition, it is increasing function,
That is steering wheel input torque is bigger, and in order to turn to conveniently, assist torque also should be bigger, the T of the present embodimentaQuadratic polynomial
It indicates are as follows:
In formula, TaFor the practical assist torque of motor, TdFor steering wheel torque, w (v) is different speeds to motor power-assisted
The weighing factor of torque, c0、c1、c2For fitting coefficient.
In conjunction with the data such as table 2 of steering wheel input torque and assist torque that a certain vehicle is tested under zero speed.
Assist torque and input torque data under 2 zero speed of table
For fitting function,V=0 is enabled, is obtainedCarry out data
Fitting acquires c0=0.2162, c1=-0.2764, c2=-0.03865.
Therefore, the fitting function of the motor assist torque under zero speed indicates are as follows:
4, motor maximum assist torque T is determinedamax
During EPS Control System Design, determine that motor maximum assist torque is model matching problem.In the present embodiment
The maximum assist torque that matched boosting motor provides is Tamax=8.50Nm.
When the steering wheel torque detected is less than steering wheel torque when motor is started to work, i.e. 0 < Td< Td0When,
Then the assist torque of motor reality output is 0；When the steering wheel torque detected is greater than maximum cut-off steering wheel torque, i.e.,
Td≥Tdmax, then the assist torque of motor reality output is the maximum assist torque T that motor providesamax。
5, the practical assist torque T of motor is determineda
Speed v, steering wheel torque T when according to vehicle actual traveld, EPS is determined according to the size of steering wheel torque
The size of steering wheel torque is divided into three sections, the reality of the corresponding motor in difference section by the best assist torque of system
Border assist torque is respectively as follows:
The specific numerical value come will be fitted in step 2 and step 3 to be updated in above formula, obtains final motor power-assisted
The function expression of torque, is shown below:
The best assist torque of EPS system boosting motor of the present embodiment determines that method is suitable for car and middle bus,
It can obtain following the utility model has the advantages that due to being provided with initial boost steering wheel torque, it is therefore prevented that the frequent starting of motor, protection
Motor, improves the service life of motor；After assigning speed to weight, it is light that assist torque can preferably coordinate steering
The relationship of property and road feel；The assist torque under zero speed is measured, data fitting is carried out, obtains c0、c1And c2Value, can basis
The difference of vehicle changes c0、c1And c2Value, power-assisted effect can be adjusted, preferably adapt to multi-vehicle-type different power-assisted demands.
A kind of assist torque control device of electric boosting steering system, including processor, processor are following for executing
The instruction of method:
(1) according to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor power-assisted
The weighing factor of torque；
(2) assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and electronic machine aided
The data of force square are fitted, the function of the assist torque of the different directions disk torque after being fitted；
(3) real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than
Or equal to motor start to work when steering wheel torque when, according to different speeds to the weight and difference of motor assist torque
The function of the assist torque of steering wheel torque, calculates the practical assist torque of motor, and control motor presses practical assist torque
It is exported.
The present invention also provides a kind of vehicle, which includes the assist torque control device of electric boosting steering system,
Device includes processor, and processor is for executing to give an order:
According to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor assist torque
Weighing factor；
The assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor power-assisted power
The data of square are fitted, the function of the assist torque of the different directions disk torque after being fitted；
Real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or waits
In motor start to work when steering wheel torque when, according to different speeds to the weight and different directions of motor assist torque
The function of the assist torque of disk torque, calculates the practical assist torque of motor, and control motor is carried out by practical assist torque
Output.
Specific embodiment is presented above, but the present invention is not limited to embodiment described above.The present invention
Basic ideas be above-mentioned basic scheme, for those of ordinary skill in the art, introduction according to the present invention is designed each
The model of kind deformation, formula, parameter do not need to spend creative work.The case where not departing from the principle and spirit of the invention
Under to embodiment carry out change, modification, replacement and modification still fall in protection scope of the present invention.
Claims (10)
1. a kind of assist torque control method of electric boosting steering system, which comprises the steps of:
1) according to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor assist torque
Weighing factor；
2) assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor assist torque
Data fitting, the function of the assist torque of the different directions disk torque after being fitted；
3) real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or equal to
Motor start to work when steering wheel torque when, according to different speeds to the weight and different directions disk of motor assist torque
The function of the assist torque of torque, calculates the practical assist torque of motor, control motor by the practical assist torque into
Row output.
2. the assist torque control method of electric boosting steering system according to claim 1, which is characterized in that work as direction
When disk torque is less than maximum cut-off steering wheel torque and is greater than or equal to steering wheel torque when motor is started to work, motor
Practical assist torque indicate are as follows:
Ta=w (v) z (Td)=ebv·(c0Td 2+c1Td+c2)
Wherein, TaFor the practical assist torque of motor, w (v) is weighting function of the different speeds to motor assist torque, z (Td)
For the function of the assist torque of different directions disk torque, v is speed, TdFor steering wheel torque, b, c0、c1And c2It is fitting system
Number.
3. the assist torque control method of electric boosting steering system according to claim 1 or 2, which is characterized in that when
When the steering wheel torque detected is less than steering wheel torque when motor is started to work, then the power-assisted power of motor reality output
Square is 0.
4. the assist torque control method of electric boosting steering system according to claim 3, which is characterized in that work as detection
When the steering wheel torque arrived is greater than maximum cut-off steering wheel torque, then the assist torque of motor reality output provides for motor
Maximum assist torque.
5. a kind of assist torque control device of electric boosting steering system, which is characterized in that including processor, the processor
For executing the instruction of following methods:
(1) according to the non-linear inverse relation of motor assist torque and speed, determine different speeds to motor assist torque
Weighing factor；
(2) assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor power-assisted power
The data of square are fitted, the function of the assist torque of the different directions disk torque after being fitted；
(3) real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or waits
In motor start to work when steering wheel torque when, according to different speeds to the weight and different directions of motor assist torque
The function of the assist torque of disk torque, calculates the practical assist torque of motor, and control motor presses the practical assist torque
It is exported.
6. the assist torque control device of electric boosting steering system according to claim 5, which is characterized in that work as direction
When disk torque is less than maximum cut-off steering wheel torque and is greater than or equal to steering wheel torque when motor is started to work, motor
Practical assist torque indicate are as follows:
Ta=w (v) z (Td)=ebv·(c0Td 2+c1Td+c2)
Wherein, TaFor the practical assist torque of motor, w (v) is weighting function of the different speeds to motor assist torque, z (Td)
For the function of the assist torque of different directions disk torque, v is speed, TdFor steering wheel torque, b, c0、c1And c2It is fitting system
Number.
7. the assist torque control device of electric boosting steering system according to claim 5 or 6, which is characterized in that when
When the steering wheel torque detected is less than steering wheel torque when motor is started to work, then the power-assisted power of motor reality output
Square is 0.
8. the assist torque control device of electric boosting steering system according to claim 5 or 6, which is characterized in that when
When the steering wheel torque detected is greater than maximum cut-off steering wheel torque, then the assist torque of motor reality output is motor
The maximum assist torque of offer.
9. the assist torque control device of electric boosting steering system according to claim 5, which is characterized in that the place
Reason device is motor controller.
10. a kind of vehicle, which is characterized in that the assist torque control device including electric boosting steering system, described device packet
Processor is included, the processor is for executing to give an order:
According to the non-linear inverse relation of motor assist torque and speed, determine different speeds to the shadow of motor assist torque
Ring weight；
The assist torque for obtaining the motor under the torque of different directions disk, by steering wheel torque and motor assist torque
Data fitting, the function of the assist torque of the different directions disk torque after being fitted；
Real-time detection steering wheel torque and speed, when steering wheel torque is less than maximum cut-off steering wheel torque and is greater than or equal to electricity
When steering wheel torque when motivation is started to work, the weight and different directions disk of motor assist torque are turned according to different speeds
The function of the assist torque of square, calculates the practical assist torque of motor, and control motor is carried out by the practical assist torque
Output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147053.6A CN109795547A (en) | 2017-11-17 | 2017-11-17 | A kind of assist torque control method, device and the vehicle of electric boosting steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711147053.6A CN109795547A (en) | 2017-11-17 | 2017-11-17 | A kind of assist torque control method, device and the vehicle of electric boosting steering system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109795547A true CN109795547A (en) | 2019-05-24 |
Family
ID=66555022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711147053.6A Pending CN109795547A (en) | 2017-11-17 | 2017-11-17 | A kind of assist torque control method, device and the vehicle of electric boosting steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795547A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110908383A (en) * | 2019-12-03 | 2020-03-24 | 安徽江淮汽车集团股份有限公司 | Method and apparatus for adjusting electric power steering system, and storage medium |
| CN111017005A (en) * | 2018-10-10 | 2020-04-17 | 森源汽车股份有限公司 | Torque control method and system for electric power-assisted transport vehicle |
| CN111017008A (en) * | 2019-11-26 | 2020-04-17 | 北汽福田汽车股份有限公司 | Vehicle steering control method and device and vehicle |
| CN111090237A (en) * | 2019-11-08 | 2020-05-01 | 华南理工大学 | Robust feedforward controller and high-frequency gain compensator optimization method |
| CN117508323A (en) * | 2023-11-02 | 2024-02-06 | 霞智科技有限公司 | Assistance method, assistance device and assistance medium for cleaning robot |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001074646A1 (en) * | 2000-03-30 | 2001-10-11 | Zf Friedrichshafen Ag | Method for detecting the wheel righting moment in steering systems |
| WO2009130718A1 (en) * | 2008-04-21 | 2009-10-29 | Cesab Carrelli Elevatori S.P.A. | Safety system for counterbalanced lift trucks and similar vehicles |
| EP2208659A1 (en) * | 2009-01-15 | 2010-07-21 | ZF-Lenksysteme GmbH | Active return in a steering system |
| CN101844583A (en) * | 2010-05-17 | 2010-09-29 | 清华大学 | Vehicle double steering control method |
| CN105667574A (en) * | 2015-12-15 | 2016-06-15 | 耐世特汽车系统（苏州）有限公司 | Self-adaptive steering control system based on driving styles and control method of self-adaptive steering control system |
| CN106494496A (en) * | 2015-09-07 | 2017-03-15 | 株式会社万都 | Steering control device and rotating direction control method |
| EP3144754A1 (en) * | 2015-09-17 | 2017-03-22 | Siemens Aktiengesellschaft | Damping of load swinging without additional measurement means on the load side |
| CN107097846A (en) * | 2017-05-13 | 2017-08-29 | 浙江仕善汽车科技股份有限公司 | A kind of determination method of automobile electric booster steering system friciton compensation moment of torsion |
| CN107161210A (en) * | 2017-05-17 | 2017-09-15 | 同济大学 | The differential power-assisted steering control system and method for a kind of distributed-driving electric automobile |
-
2017
- 2017-11-17 CN CN201711147053.6A patent/CN109795547A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001074646A1 (en) * | 2000-03-30 | 2001-10-11 | Zf Friedrichshafen Ag | Method for detecting the wheel righting moment in steering systems |
| WO2009130718A1 (en) * | 2008-04-21 | 2009-10-29 | Cesab Carrelli Elevatori S.P.A. | Safety system for counterbalanced lift trucks and similar vehicles |
| EP2208659A1 (en) * | 2009-01-15 | 2010-07-21 | ZF-Lenksysteme GmbH | Active return in a steering system |
| CN101844583A (en) * | 2010-05-17 | 2010-09-29 | 清华大学 | Vehicle double steering control method |
| CN106494496A (en) * | 2015-09-07 | 2017-03-15 | 株式会社万都 | Steering control device and rotating direction control method |
| EP3144754A1 (en) * | 2015-09-17 | 2017-03-22 | Siemens Aktiengesellschaft | Damping of load swinging without additional measurement means on the load side |
| CN105667574A (en) * | 2015-12-15 | 2016-06-15 | 耐世特汽车系统（苏州）有限公司 | Self-adaptive steering control system based on driving styles and control method of self-adaptive steering control system |
| CN107097846A (en) * | 2017-05-13 | 2017-08-29 | 浙江仕善汽车科技股份有限公司 | A kind of determination method of automobile electric booster steering system friciton compensation moment of torsion |
| CN107161210A (en) * | 2017-05-17 | 2017-09-15 | 同济大学 | The differential power-assisted steering control system and method for a kind of distributed-driving electric automobile |
Non-Patent Citations (1)
| Title |
|---|
| 曹艳玲等: "基于车速权重的EPS助力特性的研究", 《中国农机化学报》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017005A (en) * | 2018-10-10 | 2020-04-17 | 森源汽车股份有限公司 | Torque control method and system for electric power-assisted transport vehicle |
| CN111090237A (en) * | 2019-11-08 | 2020-05-01 | 华南理工大学 | Robust feedforward controller and high-frequency gain compensator optimization method |
| CN111017008A (en) * | 2019-11-26 | 2020-04-17 | 北汽福田汽车股份有限公司 | Vehicle steering control method and device and vehicle |
| CN110908383A (en) * | 2019-12-03 | 2020-03-24 | 安徽江淮汽车集团股份有限公司 | Method and apparatus for adjusting electric power steering system, and storage medium |
| CN110908383B (en) * | 2019-12-03 | 2021-05-28 | 安徽江淮汽车集团股份有限公司 | Method and apparatus for adjusting electric power steering system, and storage medium |
| CN117508323A (en) * | 2023-11-02 | 2024-02-06 | 霞智科技有限公司 | Assistance method, assistance device and assistance medium for cleaning robot |
| CN117508323B (en) * | 2023-11-02 | 2024-05-31 | 霞智科技有限公司 | Assistance method, assistance device and assistance medium for cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795547A (en) | A kind of assist torque control method, device and the vehicle of electric boosting steering system | |
| CN106515509B (en) | A kind of drive system and its torque distribution method of electric four-wheel drive automobile | |
| CN101200170B (en) | Electric automobile accelerating device and method | |
| CN101209681A (en) | Electric motor outputting torque moment control system and control method in electric automobile descending condition | |
| CN104157179A (en) | Force sensing analog system based on C-EPS structure | |
| CN102582681A (en) | Alternating-current permanent magnet type electric power steering control system based on DSP (Digital Signal Processor) and method | |
| EP2159134A3 (en) | Steering system with variable transmission ratio | |
| CN105799771A (en) | Manual/automatic switching automobile steering device | |
| CN106004520B (en) | A kind of method for controlling driving speed, control system and electric car | |
| CN103192868A (en) | Automobile electric power steering system | |
| CN103182940B (en) | A kind of energy feedback brake system for electric automobile | |
| CN201107600Y (en) | Electronic control type electrodynamic power-assisted steering controller | |
| CN105730257B (en) | Propulsion system, Energy Management System and method | |
| CN106741132A (en) | The controller and its control method of a kind of multi-mode active front steering system | |
| CN106697038A (en) | Electric power steering control system for automobile | |
| CN207328418U (en) | A kind of auxiliary brake device for automobile | |
| WO2020186443A1 (en) | Torque vector distribution system for hub motor driving system | |
| CN201680919U (en) | Motor temperature measuring device of automobile continuously variable transmission | |
| CN104773089B (en) | Braking energy of electric automobiles reclaims electricity generation system voltage stabilizing control method | |
| CN106740270A (en) | Display method and device for percentage of output power of motor and electric vehicle | |
| CN201703423U (en) | Controller circuit of electric power assisted steering system | |
| CN102829912B (en) | DC power measurement loading system | |
| CN103441713B (en) | Method for adjusting switch-on angle and switch-off angle of switched reluctance motor | |
| CN202728330U (en) | Frequency conversion control variable torque electro-hydraulic steering system | |
| CN202911672U (en) | Electrocar power system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190524 |