CN109823391B - Power-assisted torque correction method and device of electric steering system and vehicle - Google Patents
Power-assisted torque correction method and device of electric steering system and vehicle Download PDFInfo
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Abstract
The invention provides a power-assisted torque correction method, a power-assisted torque correction device and a vehicle of an electric steering system, wherein the method comprises the steps of firstly collecting steering voltage, steering current, vehicle speed and steering wheel rotation angle of a power-assisted motor, calculating the actual power of the power-assisted motor, and determining the theoretical power of the power-assisted motor; calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor; and adjusting the actual power according to the power-assisted torque adjustment coefficient, and taking the adjusted target adjustment power as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner. The invention can automatically adjust the power-assisted torque of the motor according to the mechanical abrasion state of the electric steering system, avoids the problem of over-steering or under-steering caused by the mechanical abrasion of the electric steering system, can realize the on-line continuous improvement of the steering characteristic curve, and keeps the good steering feeling of a driver in the whole life cycle of the running of the vehicle.
Description
Technical Field
The invention belongs to the technical field of electric steering systems of new energy automobiles, and particularly relates to a power-assisted torque correction method and device of an electric steering system and a vehicle.
Background
The electric steering system is widely applied along with the high-speed development of new energy automobiles, and the safe and effective work of the steering system is directly related to the safety performance and the driving feeling of the vehicle, so how to ensure the safety performance of the steering system to the maximum degree becomes an important link which needs to be considered in the whole vehicle structure design and control strategy development process.
As shown in fig. 1, when the system is corrected on the whole vehicle for the first time, the corresponding relationship between the steering wheel angle and the steering power-assisted torque is a steering characteristic curve, and the steering motor outputs the power-assisted torque strictly according to the steering characteristic curve, so that the steering intention of the driver can be accurately reflected, that is, the steering motor torque command sent to the steering motor by the steering motor controller is a certain value at a certain steering wheel angle. However, when mechanical components (such as a steering oil pump, a steering oil circuit and a power-assisted motor) of the steering system break down, the torque which is actually required to be output by the steering motor deviates a steering characteristic curve to be large; or, after the vehicle is operated for a long time, the torque actually required to be output by the steering motor due to mechanical wear is deviated from the steering characteristic curve to be large. In the two cases, the steering characteristic curve corrected in the early stage is not suitable for the current steering system, so that the action of the whole steering system cannot accurately respond to the intention of a driver, over-steering, under-steering or inconvenient steering occurs, the driving feeling is influenced, and even vehicle accidents are caused.
The reason why the system has the above-mentioned defects is that: the system is open-loop control, parameters which can reflect system faults and wear conditions are not fed back to a steering motor controller or a whole vehicle controller in real time, so that the steering motor controller cannot automatically correct a power-assisted torque value according to mechanical part faults or hardware loss, and a driver cannot be warned to overhaul when the system is in serious faults or is seriously worn. In summary, the operational stability and safety of the system cannot be guaranteed throughout the vehicle operational life cycle, and the problem becomes more pronounced as the operational time of the vehicle lengthens.
Disclosure of Invention
The invention aims to provide a method and a device for correcting an assist torque of an electric steering system and a vehicle, which are used for solving the problems of over-steering or under-steering caused by abrasion of parts of the steering system in the prior art.
In order to achieve the above object, the present invention provides a method for correcting an assist torque of an electric power steering system, including the following steps:
the first method scheme comprises the following steps:
1) collecting steering voltage, steering current, vehicle speed and steering wheel angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel angle;
2) calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor;
3) and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjusting coefficient, and taking the target adjusting power obtained after adjustment as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner.
And in a second method scheme, on the basis of the first method scheme, the power-assisted torque adjusting coefficients under each vehicle speed and each steering wheel angle are calculated in an accumulated mode, and when the accumulated power-assisted torque adjusting coefficients are larger than a set threshold value, the electric steering system is judged to be invalid, and an alarm is given.
On the basis of the first method scheme or the second method scheme, the actual power calculation formula of the power-assisted motor is as follows:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
On the basis of the method scheme three or the method scheme four, respectively, the calculation formula of the power-assisted torque regulation coefficient is as follows:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
The method scheme seven and the method scheme eight are respectively based on the method scheme five or the method scheme six, and the target regulation power of the power-assisted motor is represented as follows:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
And on the basis of the first method, the theoretical power of the motor is obtained by inquiring a motor steering characteristic curve table corresponding to the vehicle speed and the steering wheel rotation angle.
The invention also provides a power-assisted torque correction device of the electric steering system, which comprises the following device scheme:
apparatus arrangement one, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program:
(1) collecting steering voltage, steering current, vehicle speed and steering wheel angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel angle;
(2) calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor;
(3) and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjusting coefficient, and taking the target adjusting power obtained after adjustment as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner.
And in the second device scheme, on the basis of the first device scheme, the power-assisted torque adjusting coefficients under each vehicle speed and each steering wheel angle are calculated in an accumulated mode, and when the accumulated power-assisted torque adjusting coefficients are larger than a set threshold value, the electric steering system is judged to be invalid, and an alarm is given.
The device scheme I and the device scheme II are respectively based on the device scheme I or the device scheme II, and the actual power calculation formula of the power-assisted motor is as follows:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
The device scheme five and the device scheme six are respectively based on the device scheme three or the device scheme four, and the calculation formula of the power-assisted torque regulation coefficient is as follows:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
The device scheme seven and the device scheme eight are respectively based on the device scheme five or the device scheme six, and the target regulation power of the power-assisted motor is represented as follows:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
And on the basis of the first device scheme, the theoretical power of the motor is obtained by inquiring a motor steering characteristic curve table corresponding to the vehicle speed and the steering wheel rotation angle.
The invention also provides a vehicle comprising the following vehicle solutions:
the vehicle scheme I comprises a steering wheel, a steering wheel angle sensor, a power-assisted motor controller and a vehicle controller, wherein the vehicle controller is connected with the power-assisted motor controller and the steering wheel angle sensor and is used for acquiring steering voltage, steering current, vehicle speed and a steering wheel angle of the power-assisted motor, calculating actual power of the power-assisted motor according to the acquired steering voltage and steering current and determining theoretical power of the power-assisted motor according to the acquired vehicle speed and the steering wheel angle; calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor; and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjusting coefficient, and taking the target adjusting power obtained after adjustment as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner.
And in the second vehicle scheme, on the basis of the first vehicle scheme, the power-assisted torque adjusting coefficients under each vehicle speed and each steering wheel angle are calculated in an accumulated mode, and when the accumulated power-assisted torque adjusting coefficients are larger than a set threshold value, the electric steering system is judged to be invalid, and an alarm is given.
And on the basis of the vehicle scheme I or the vehicle scheme II, the actual power calculation formula of the power-assisted motor is as follows:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
The vehicle scheme five and the vehicle scheme six are respectively based on the vehicle scheme three or the vehicle scheme four, and the calculation formula of the power-assisted torque regulation coefficient is as follows:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
The target regulation power of the power assisting motor is represented as follows on the basis of a vehicle scheme five or a vehicle scheme six respectively:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
And on the basis of the first vehicle scheme, the theoretical power of the motor is obtained by inquiring a motor steering characteristic curve table corresponding to the vehicle speed and the steering wheel rotation angle.
The invention has the beneficial effects that:
the method comprises the steps of firstly, collecting steering voltage, steering current, vehicle speed and steering wheel rotation angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel rotation angle; calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor; and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjustment coefficient, and taking the target adjustment power obtained after adjustment as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner. The invention can automatically adjust the power-assisted torque of the motor according to the mechanical abrasion state of the electric steering system, avoids the problem of over-steering or under-steering caused by the mechanical abrasion of the electric steering system, can realize the on-line continuous improvement of the steering characteristic curve, and keeps the good steering feeling of a driver in the whole life cycle of the running of the vehicle.
Further, through carrying out accumulation calculation on the torque adjustment coefficient, when the value after the accumulation calculation is larger than a set threshold value, the electric steering system is judged to be invalid and gives an alarm, so that accidental steering accidents can be prevented.
Drawings
FIG. 1 is a schematic diagram of a structure of a pure electric power-assisted steering system in the prior art;
FIG. 2 is a schematic diagram of a purely electric power-assisted steering system of the present invention;
fig. 3 is a flowchart of an assist torque correction method of the pure electric power steering system according to the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings:
a vehicle is specifically shown in fig. 2 and comprises a steering wheel, a steering oil path, a steering oil pump and a power-assisted motor, wherein the steering wheel is connected with a steering wheel angle sensor, the steering wheel angle sensor is connected with a vehicle control unit, the vehicle control unit is connected with a power-assisted motor controller, the motor controller is connected with the power-assisted motor, the power-assisted motor is sequentially connected with the steering oil pump and the steering oil path, the steering wheel is connected with the steering oil path, and the steering oil pump is in bidirectional connection with the steering oil path.
Based on the system configuration shown in fig. 2, there is provided an assist torque correction method of an electric power steering system, including the steps of, as shown in fig. 3:
1) the power-assisted motor controller outputs a steering voltage signal and a steering current signal of the power-assisted motor in real time, the vehicle control unit collects the steering voltage signal and the steering current signal of the power-assisted motor, and calculates the actual power of the power-assisted motor according to the collected steering voltage signal and the collected steering current signal; as another embodiment, the assist motor controller may also calculate the actual power of the assist motor according to the steering voltage signal and the steering current signal, and the actual power calculation formula of the assist motor is as follows:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
2) The method comprises the steps that a steering wheel angle sensor outputs a steering wheel angle to a vehicle control unit, collected vehicle speed signals are sent to the vehicle control unit, the vehicle control unit obtains corresponding theoretical power values of a power-assisted motor through table look-up according to the received steering wheel angle signals and the vehicle speed values, the table comprises the theoretical power values of the power-assisted motor under different rotating speeds and different steering wheel angles obtained through experiments, the theoretical power values are written in a power-assisted motor controller program in a form of a calibratable parameter when a vehicle leaves a factory, and the power-assisted motor controller calculates a power-assisted torque adjusting coefficient according to the actual power of the power-assisted motor and the theoretical power of the power-assisted motor; the calculation formula of the power-assisted torque regulation coefficient is as follows:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
3) The power-assisted motor controller receives a torque adjusting coefficient transmitted by the vehicle control unit, and calculates target adjusting power of the power-assisted motor according to the actual power and the power-assisted torque adjusting coefficient to adjust the actual power of the power-assisted motor; the aim is to make the power actually output by the power-assisted motor to be in wireless connection with the requirements of a driver so as to maintain the stability of the external characteristics of the whole steering system, and the target regulation power of the power-assisted motor is expressed as follows:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
The theoretical power of the power-assisted steering needing to be corrected under each speed and each steering wheel corner when the vehicle leaves a factory is expressed as follows:
after i-time cyclic correction, the theoretical power value is gradually adjusted to Pmn × fmn at a certain correction point (theoretical power at a fixed steering wheel angle m and a fixed vehicle speed n).
4) Writing the calculated target adjusting power P3 of the power-assisted motor into a storage area corresponding to a steering characteristic curve, replacing the original theoretical power value under the current steering wheel angle and the current vehicle speed, namely in the next control cycle process, taking the target adjusting power P3 as the actual power value of the power-assisted motor, adjusting the steering characteristic curves of the power-assisted motors under various vehicle speeds and steering wheel angles, and outputting the corrected power-assisted torque of the power-assisted motor, wherein the aim is to synchronously update the steering characteristic curve of the power-assisted motor along with the mechanical failure and the abrasion of an electric steering system. Wherein, the positive and negative cumulative calculation value of the power-assisted torque adjusting coefficient is as follows:
fmn＝(1+f1)×(1+f2)×(1+f(...))×(1+f(i-1))×(1+fi)
where fmn is the integrated value of the assist torque adjustment coefficients after i-times of cycle correction, and f1For the torque regulation factor at the first correction, f2Adjustment factor for torque at first correction, … …, fiThe torque adjustment coefficient at the i-th correction.
5) And performing forward and reverse accumulated calculation on the power-assisted torque adjustment coefficients under each vehicle speed and each steering wheel angle, and setting an accumulated value of the torque adjustment coefficients to detect the wear degree of mechanical parts of the electric steering system or judge whether the mechanical system has mechanical faults. When the accumulated power-assisted torque adjustment coefficient is larger than a set threshold value, the electric steering system is judged to be invalid, the steering system cannot work normally, at the moment, the vehicle control unit sends a fault code to remind a driver of timely maintenance, if the accumulated value of the steering power-assisted coefficient is smaller than the set threshold value, the electric steering system is considered to have slight fault or loss, and at the moment, the power-assisted torque is corrected in real time through the correction methods of the steps 1) to 4) to compensate for the deviation of the steering torque.
The invention also provides an assist torque correction device of an electric power steering system, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program:
(1) collecting steering voltage, steering current, vehicle speed and steering wheel angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel angle;
(2) calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor;
(3) and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjustment coefficient, and taking the target adjustment power obtained after adjustment as the actual power value of the power-assisted motor, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel corner.
The specific embodiments are given above, but the present invention is not limited to the above-described embodiments. The basic idea of the present invention lies in the above basic scheme, and it is obvious to those skilled in the art that no creative effort is needed to design various modified models, formulas and parameters according to the teaching of the present invention. Variations, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention, and still fall within the scope of the invention.
Claims (18)
1. An assist torque correction method of an electric power steering system, characterized by comprising the steps of:
1) collecting steering voltage, steering current, vehicle speed and steering wheel angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel angle;
2) calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor;
3) and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjustment coefficient, taking the target adjustment power obtained after adjustment as the actual power value of the power-assisted motor, writing the target adjustment power obtained after adjustment into a storage area corresponding to a steering characteristic curve, and replacing the theoretical power value of the power-assisted motor under the current vehicle speed and steering wheel angle, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel angle.
2. The assist torque correction method for an electric power steering system according to claim 1, wherein the assist torque adjustment coefficient is cumulatively calculated for each vehicle speed and each steering wheel angle, and when the cumulatively calculated assist torque adjustment coefficient is larger than a set threshold value, it is determined that the electric power steering system is disabled, and an alarm is issued.
3. The assist torque correction method of an electric power steering system according to claim 1 or 2, characterized in that an actual power calculation formula of the assist motor is:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
4. The assist torque correction method of an electric power steering system according to claim 3, characterized in that the assist torque adjustment coefficient is calculated by the formula:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
5. The assist torque correction method of an electric power steering system according to claim 4, characterized in that the target regulation power of the assist motor is expressed as:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
6. The assist torque correction method of an electric power steering system according to claim 1, wherein the theoretical power of the motor is obtained by referring to a motor steering characteristic map table corresponding to a vehicle speed and a steering wheel angle.
7. An assist torque correction device for an electric power steering system, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of:
(1) collecting steering voltage, steering current, vehicle speed and steering wheel angle of a power-assisted motor, calculating the actual power of the power-assisted motor according to the collected steering voltage and steering current, and determining the theoretical power of the power-assisted motor according to the collected vehicle speed and steering wheel angle;
(2) calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor;
(3) and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjusting coefficient, taking the target adjusting power obtained after adjustment as the actual power value of the power-assisted motor, writing the target adjusting power into a storage area corresponding to a steering characteristic curve, and replacing the theoretical power values of the power-assisted motor under the current vehicle speed and steering wheel rotation angle, thereby adjusting the steering characteristic curves of the power-assisted motors under all vehicle speeds and steering wheel rotation angles.
8. The assist torque correction device for an electric power steering system according to claim 7, wherein the assist torque adjustment coefficients for each vehicle speed and each steering wheel angle are cumulatively calculated, and when the cumulatively calculated assist torque adjustment coefficients are larger than a set threshold, it is determined that the electric power steering system is disabled, and an alarm is issued.
9. The assist torque correction device of an electric power steering system according to claim 7 or 8, characterized in that an actual power calculation formula of the assist motor is:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
10. The assist torque correction device of an electric power steering system according to claim 9, characterized in that the assist torque adjustment coefficient is calculated by the formula:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
11. The assist torque correcting apparatus of an electric power steering system according to claim 10, characterized in that the target regulation power of the assist motor is expressed as:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
12. The assist torque correction device of an electric power steering system according to claim 7, wherein the theoretical power of the motor is obtained by referring to a motor steering characteristic map table corresponding to a vehicle speed and a steering wheel angle.
13. A vehicle comprises a steering wheel, a steering wheel angle sensor, a power-assisted motor controller and a vehicle control unit, wherein the vehicle control unit is connected with the power-assisted motor controller and the steering wheel angle sensor; calculating an assistance torque adjusting coefficient according to the actual power of the assistance motor and the theoretical power of the assistance motor; and adjusting the actual power of the power-assisted motor according to the power-assisted torque adjustment coefficient, taking the target adjustment power obtained after adjustment as the actual power value of the power-assisted motor, writing the target adjustment power obtained after adjustment into a storage area corresponding to a steering characteristic curve, and replacing the theoretical power value of the power-assisted motor under the current vehicle speed and steering wheel angle, thereby adjusting the steering characteristic curve of the power-assisted motor under each vehicle speed and each steering wheel angle.
14. The vehicle according to claim 13, wherein the assist torque adjustment coefficient is cumulatively calculated for each vehicle speed and each steering wheel angle, and when the cumulatively calculated assist torque adjustment coefficient is larger than a set threshold value, it is determined that the electric power steering system is disabled, and an alarm is given.
15. The vehicle according to claim 13 or 14, characterized in that the actual power calculation formula of the assist motor is:
P1＝V×I
wherein, P1 is the actual power of the power-assisted motor, V is the steering voltage of the power-assisted motor, and I is the steering current of the power-assisted motor.
16. The vehicle of claim 15, characterized in that the boost torque adjustment coefficient is calculated by the formula:
f＝(P1-P2)/P2
wherein f is an assistance torque adjusting coefficient, P1 is the actual power of the assistance motor, and P2 is the theoretical power of the assistance motor.
17. The vehicle of claim 16, wherein the target regulated power of the assist motor is represented as:
P3＝P1+f×P1
wherein, P3 is the target adjusting power, P1 is the actual power of the power assisting motor, and f is the power assisting torque adjusting coefficient.
18. The vehicle according to claim 13, wherein the theoretical power of the motor is obtained by querying a motor steering characteristic curve table corresponding to the vehicle speed and the steering wheel rotation angle.
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| CN116588187B (en) * | 2023-07-18 | 2023-12-15 | 博世汽车部件(苏州)有限公司 | Control method and device for lane keeping function |
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