CN109878568A - A kind of autonomous driving vehicle EPS control system, method - Google Patents
A kind of autonomous driving vehicle EPS control system, method Download PDFInfo
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Abstract
The invention discloses a kind of autonomous driving vehicle EPS control system and methods.System includes to the top level control module of EPS operational module control and to assist motor control and to lower layer's control module of target power-assisted current tracking；The top level control module includes straight line Power assisted control submodule, damping control submodule and rotary transform tensor submodule.The top level control module continuously receives speed signal, hand-wheel torque signal and steering wheel angle speed signal when driving, target power-assisted electric current is exported through straight line Power assisted control submodule, and the deviation of real work electric current obtains the control voltage of motor after the fuzzy PID regulation of fuzzy control submodule, then is controlled by electric current of the pulse modulation technology to motor.The present invention can be realized different power-assisted effects, adjusts the contradiction for turning to " light " and " spirit ", so that automobile is run at a low speed steering light and flexible, run at high speed reliable and stable.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular, to a kind of autonomous driving vehicle EPS control system, side
Method.
Background technique
The steering system of typical passenger car is made of three groups of mechanical systems, and first group is steering wheel (Steering
Wheel), steering column (Steering Column) and jackshaft (Intermediate Shaft), function are to turn driver
It is transmitted to second group of mechanical system tooth sector (Steering Gear) to movement, usually there is rack pinion (Rack and
Pinion) or worm screw sector gear (Worm and sector), the effect of tooth sector are to turn the circular motion of steering wheel
Lateral linear motion is changed, and then pushes third group mechanical system steering link group (Steering linkage) that front-wheel is driven to turn
To movement.Automobile assisted power steering system can be divided into hydraulic booster (HPS), electric hydaulic power-assisted (EHPS) and electric boosted
(EPS) three categories, wherein using EPS as mainstream on passenger car, for commercial vehicle using HPS as mainstream, EHPS is relatively more normal on large-scale SUV
See, remaining field is more rare.Regardless of commercial vehicle or passenger car, either car or SUV, following developing direction is all
EPS。
Automatic Pilot electric car is mounted on driving motor in driving wheel or near driving wheel, is changed for vehicle structure
Broad space is provided, it represents the important directions of the following Development of Electric Vehicles, with compact-sized, power chain is short, passes
Move outstanding advantages of efficient.Wherein motor (taking turns firm motor) is its important component, for the demand of automobile rotational speed and torque, response
Speed is fast, and controllability is strong.Motor can rotate backward simultaneously, so that the efficiency of generator reaches the efficiency of motor.With internal combustion engine
It compares, energy efficiency is up to 90%.
EPS control strategy and its algorithm be autonomous driving vehicle steering control system core and current automatic Pilot
Motor turning controls the problem captured always.
Traditional PID control feeds back the speed signal of output quantity to input terminal and and error signal using negative feedback type
Compare, the circuit of composition is known as speed feedback control (velocity feedback control).If output quantity is mechanical angle
Displacement, can be used speed measuring motor and is converted into mechanical quantity to be proportional to the electric signal of output speed, to obtain velocity feedback.Tradition
The characteristics of PID, controller is simple, strong robustness, system reliability are high；Using traditional PID control, parameter cannot be carried out accurate
Adjustment, assist motor operation conditions deteriorate, and system control precision is low.Such as it can be very good to solve these problems with fuzzy control,
But Fuzzy control system is difficult to eliminate static error, and limited vulnerable to fuzzy rule grade and cause systematic error.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of autonomous driving vehicle EPS control system, which makes
Motor turning is light, stable operation.
Technical proposal that the invention solves the above-mentioned problems is: a kind of autonomous driving vehicle EPS control system is included to EPS work
Make the top level control module of module control and to assist motor control and to lower layer's control module of target power-assisted current tracking；
The top level control module includes straight line Power assisted control submodule, damping control submodule and rotary transform tensor submodule
Block；
The straight line Power assisted control submodule by design assist characteristic curve determine current of electric and hand-wheel torque and
Relationship between speed exports target power-assisted electric current, for making driver obtain good road feel and turning to feel, control strategy master
The design object wanted is the design of assist characteristic curve；
Damping control submodule is used for horizontal swing when automobile high-speed being inhibited to turn to, when guaranteeing automobile high-speed straight-line travelling
Control stability, prevent from turning to and dissipate, elimination is caused shimmy by road agitation and impact when running at high speed.
Rotary transform tensor submodule is used to inhibit horizontal swing when high speed steering, reinforces steering wheel in the stabilization of center
Property, active rotary transform tensor is carried out starting back timing, carries out damping control in steering wheel hub point areas adjacent, inhibits back positive excess
It adjusts；
Lower layer's control module includes fuzzy-adaptation PID control submodule and motor control submodule；
The fuzzy-adaptation PID control submodule is for controlling EPS system assist motor electric current by vehicle complexity operating condition
It influences and there is very strong uncertainty, eliminate Fuzzy control system static error.
The motor control submodule is for controlling driving wheel and acquisition driving wheel speed signal.
The top level control module of the EPS control system continuously receives speed signal, hand-wheel torque when driving
Signal and steering wheel angle speed signal export target power-assisted electric current through straight line Power assisted control submodule, with real work electric current
Deviation obtains the control voltage of motor after fuzzy-adaptation PID control submodule carries out fuzzy PID regulation, then passes through pulse modulation technology
The electric current of motor is controlled.
It is designed, is analyzing with algorithm in the present solution, having carried out the division of module, control strategy to EPS control system
On the basis of EPS assistant mode and assist motor current Control Algorithm, fuzzy-adaptation PID control is used, and according to control strategy
Controlling model is established in Simulink, in conjunction with assist characteristic model, assist motor model, PWM model, establishes complete EPS control
System model processed, and it is anti-to give speed signal in the distributed-driving electric automobile EPS control strategy different from conventional truck
Present control principle.
Another object of the present invention is to provide a kind of method for applying above-mentioned autonomous driving vehicle EPS control system,
When steering wheel turn right,Greater than 0, right turn assistant mode is opened；When steering wheel turn right,Less than 0, and θsGreater than θth, open
Right-hand rotation active damping mode；When steering wheel turn right,Less than 0, and θsLess than θth, open holotype of turning right back；
When steering wheel turn left,Greater than 0, left steering assistant mode is opened；When steering wheel turn left,Less than 0, and | θs| it is big
In | θth|, open left-hand rotation active damping mode；When steering wheel turn left,Less than 0, while | θs| it is less than | θth|, unlatching is turned left back just
Mode；Wherein θsSteering wheel absolute angle,Angular speed, θthSteering reversal overshoot critical angle.
Further, the straight line Power assisted control submodule passes through the function between current of electric and hand-wheel torque and speed
Relationship expression, function expression are as follows:
Wherein, I is the target current of assist motor；ImaxFor assist motor maximum operating currenbt；TdFor steering wheel input power
Square；KVFor assist characteristic slope of a curve,TdO is that steering system starts steering wheel input torque when power-assisted；
TdmaxThe input torque of steering wheel when providing maximum power-assisted for steering system.
Preferably, Td0=1Nm, Tdmax=6Nm, Imax=20A.
Further, when speed is more than that preset value and dtc signal be within the scope of [- 1,1] Nm, the damping is controlled
System module carries out damping control.
Further, the damping control submodule generates negative-phase sequence curent by control assist motor and provides hair torque,
To carry out damping control.
Further, the fuzzy-adaptation PID control submodule is with the deviation e and its variation of target current and actual motor current
Rate ec is as input quantity, pid control parameter Kp、Ka、KdCorrection amount △ KP、△Ka、△KdFor fuzzy output amount；
The parameter tuning calculation formula of PID controller is within a sampling period
Kp0、Ka0、Kd0It is K respectivelyp、Ka、KdInitial value.
It is further preferred that the Kp0=1.05, Ka0=0.2, Kd0=0.0015.The PID module control of this programme can
Parameter is accurately adjusted, and the static error of Fuzzy control system can be eliminated.
Compared with prior art, the beneficial effects of the present invention are:
Control system has been divided top level control module and lower layer's control module by the present invention, and top level control module has divided directly
Three kinds of line Power assisted control, damping control, rotary transform tensor operating modes, lower layer's control module is in analysis EPS assistant mode and helps
On the basis of force motor current Control Algorithm, fuzzy-adaptation PID control is devised, and establish Controlling model according to control strategy, in conjunction with
Assist characteristic model, assist motor model, PWM model establish complete EPS control system model, and give and be different from tradition
Speed signal feedback control principle in the automatic Pilot electric car EPS control strategy of vehicle.
The present invention determines the direction of rotation of boosting motor and the size of power-assisted electric current by ECU, and control motor carries out
Power steering；It can easily realize different power-assisted effects, and power-assisted electric current changes as speed changes, and adjust and turn to
The contradiction of " light " and " spirit " makes automobile run at a low speed steering light and flexible, runs at high speed reliable and stable.And gone out by model analysis
Control stability, designed mould are improved while improving ease of steering to electric boosting steering system under different operating conditions
Paste PID control submodule increases compared to traditional PID control effect, also improves autonomous driving vehicle and runs at high speed stabilization
Property.
Detailed description of the invention
Fig. 1 is 1 autonomous driving vehicle EPS control system schematic diagram of embodiment.
Fig. 2 is 1 linear type assist characteristic curve of embodiment.
Fig. 3 is 1 linear type power-assisted Simulink of embodiment figure.
Fig. 4 is embodiment 1EPS power steering three-dimensional model diagram.
Fig. 5 embodiment 1EPS control strategy system Simulink model.
Fig. 6 is 1 fuzzy-adaptation PID control parameter on-line tuning flow chart of embodiment.
Fig. 7 is 1 fuzzy-adaptation PID control model of embodiment.
Fig. 8 is 1 fuzzy-adaptation PID control model subsystem of embodiment (PID control) Simulink model.
Fig. 9 is embodiment 1PWM module Simulink model.
Figure 10 is 1 motor control Simulink model of embodiment.
Figure 11 is 1 speed signal feedback principle of embodiment.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.For the ordinary skill in the art,
Above-mentioned term can be understood in concrete meaning of the invention with concrete condition.With reference to the accompanying drawings and examples to technology of the invention
Scheme is described further.
Embodiment 1
As shown in Figure 1, the present embodiment provides a kind of autonomous driving vehicle EPS control systems, comprising: top level control module and
Lower layer's control module, the top level control module are the control of operating mode, and lower layer's control module is the control to assist motor
And to target power-assisted current tracking.
The top level control module includes three kinds of control submodules, respectively straight line Power assisted control submodule, damping control
Submodule, rotary transform tensor submodule.
The straight line Power assisted control submodule by design assist characteristic curve determine current of electric and hand-wheel torque and
Relationship between speed exports target power-assisted electric current；For making driver obtain good road feel and turning to feel, control strategy master
The design object wanted is the design of assist characteristic curve；
Damping control submodule is used for horizontal swing when automobile high-speed being inhibited to turn to, when guaranteeing automobile high-speed straight-line travelling
Control stability, prevent from turning to and dissipate, elimination is caused shimmy by road agitation and impact when running at high speed.
Rotary transform tensor submodule is used to inhibit horizontal swing when high speed steering, reinforces steering wheel in the stabilization of center
Property, active rotary transform tensor is carried out starting back timing, carries out damping control in steering wheel hub point areas adjacent, inhibits back positive excess
It adjusts；
The EPS control system continuously receives speed signal, hand-wheel torque signal and steering wheel angle when driving
Speed signal, through assist characteristic curve model export target power-assisted electric current, and real work electric current deviation through fuzzy PID regulation
The control voltage of motor is obtained afterwards, then is controlled by electric current of the pulse modulation technology to motor.
As a specific embodiment of the present embodiment, as shown in Fig. 2, the straight line Power assisted control submodule can lead to
Cross the functional relation expression between current of electric and hand-wheel torque and speed, function expression are as follows:
Wherein, I is the target current of assist motor；ImaxFor assist motor maximum operating currenbt；TdFor steering wheel input power
Square；KVFor assist characteristic slope of a curve, also referred to as power-assisted gradient, it is the function of speed, and can be described as speed induction coefficient；Tdo
Steering wheel input torque when starting power-assisted for steering system；TdmaxThe input power of steering wheel when providing maximum power-assisted for steering system
Square.The speed induction system expression formula is
As shown in Figure 3 and Figure 4, in the specific implementation process, the present embodiment uses Td0=1Nm, Tdmax=6Nm, Imax
=20A；
As 0≤Td≤Td0System power-assisted electric current is 0, is non helping hand area；
Work as Td0≤Td≤TdmaxSystem provides power-assisted；
Work as Td≥TdmaxSystem reaches maximum operating currenbt, power-assisted saturation.
EPS power steering three-dimensional model diagram as shown in Figure 5, depict assist motor output electric current and steering moment with and
Relationship between speed.
The rotary transform tensor module is divided into back positive insufficient, normal Hui Zhengyu and returns three kinds of positive overshoot；Normal return just does not need back
Positive control returns positive deficiency and uses active rotary transform tensor, returns positive overshoot and use active damping control；It selects rotary transform tensor mode side
Judgement algorithm of the method referring to EPS operating mode；
Its Method And Principle are as follows: rotary transform tensor is identical with Power assisted control mode principle, and vehicle velocity V, torque T, rotational angle theta is added in algorithm
And the change rate of cornerEtc. factors, starting back timing carry out active rotary transform tensor, steering wheel hub point areas adjacent carry out
Damping control inhibits back positive overshoot.The factors such as the aligning torque of kingpin inclination, camber angle, tire influence steering reversal
Performance；For installing the electric car of EPS additional, assist motor rotary inertia also influences return performance.It is developed in electric power steering
Initial stage, system do not have rotary transform tensor, return and are just depending entirely on intrinsic turn around parameters.
The damping control module can inhibit horizontal swing when high speed steering, reinforce steering wheel in center
Stability；Damping is the function of speed, and required damping increases with the increase of speed, and system carries out when steering reversal overshoot
Active damping control.When speed is more than that setting value and dtc signal be within the scope of [- 1,1] Nm, implementation damping control, also referred to as
To turn to middle position control, stability when high vehicle speeds is improved.General control assist motor generate reverse current with
Torque reaction is provided, realizes damping control.
The damping control module plays the role of three aspects: first is that operation stabilization when guaranteeing automobile high-speed straight-line travelling
Property, damping control is added in power-assisted " dead zone ", it is appropriate to increase steering wheel resistance, obtain steady road feel；It is dissipated second is that preventing from turning to；
Third is that eliminating caused shimmy with impact by road agitation when running at high speed.
The judgement algorithm of the EPS operating mode are as follows:
Wherein θsSteering wheel absolute angle,Angular speed, θthSteering reversal overshoot critical angle.
When steering wheel turn right,Greater than 0, right turn assistant mode is opened；When steering wheel turn right,Less than 0, and θsIt is greater than
θth, open right-hand rotation active damping mode；When steering wheel turn right,Less than 0, and θsLess than θth, open holotype of turning right back；
When steering wheel turn left,Greater than 0, left steering assistant mode is opened；When steering wheel turn left,Less than 0, and | θs| it is big
In | θth|, open left-hand rotation active damping mode；When steering wheel turn left,Less than 0, while | θs| it is less than | θth|, unlatching is turned left back just
Mode；Wherein θsSteering wheel absolute angle,Angular speed, θthSteering reversal overshoot critical angle.
Lower layer's control algolithm includes: fuzzy-adaptation PID control and motor control,
As shown in fig. 7, the fuzzy-adaptation PID control, fuzzy controller with the deviation e of target current and actual motor current and
Its change rate ec is as input quantity, pid control parameter Kp、Ka、KdCorrection amount △ KP、△Ka、△KdFor fuzzy output amount.
The parameter tuning calculation formula of PID controller is within a sampling period
Kp0、Ka0、Kd0It is K respectivelyp、Ka、KdInitial value, behind successively calculate according to parameter tuning calculation formula, it is online to adjust
The workflow of whole parameter is as shown in Figure 6.
As shown in figure 8, PID control module subsystem, initial value Kp0=1.05, Ka0=0.2, Kd0=0.0015, warp
Debugging: assist motor actual current can preferable following object current.
As shown in figures 4 and 9, the control principle of EPS Power assisted control Policy model is that controller is continuous when driving
Speed signal, hand-wheel torque signal and steering wheel angle speed signal are received, exports target power-assisted through assist characteristic curve model
Electric current, and the deviation of real work electric current obtain the control voltage of motor after fuzzy PID regulation, then pass through pulse modulation technology
(PWM) electric current of motor is controlled, realizes the control to motor power torque.Electricity used in electric boosting steering system
Motivation is high-efficient, high reliablity permanent magnet DC motor.
As shown in Figure 10, using fuzzy control and the coefficient control strategy of PID control, the control to assist motor is realized
System.
Described in attached drawing positional relationship for only for illustration, should not be understood as the limitation to this patent.It is aobvious
So, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be to reality of the invention
Apply the restriction of mode.For those of ordinary skill in the art, it can also make on the basis of the above description other
Various forms of variations or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all in spirit of the invention
With any modifications, equivalent replacements, and improvements made within principle etc., the protection scope of the claims in the present invention should be included in
Within.
Claims (8)
1. a kind of autonomous driving vehicle EPS control system, which is characterized in that including the top level control controlled EPS operational module
Module and to assist motor control and to lower layer's control module of target power-assisted current tracking；
The top level control module includes straight line Power assisted control submodule, damping control submodule and rotary transform tensor submodule；
The straight line Power assisted control submodule determines current of electric and hand-wheel torque and speed by designing assist characteristic curve
Between relationship, export target power-assisted electric current；
Damping control submodule is used for horizontal swing when automobile high-speed being inhibited to turn to, and guarantees behaviour when automobile high-speed straight-line travelling
Handing stability prevents from turning to diverging, caused shimmy with impact by road agitation when elimination is run at high speed.
Rotary transform tensor submodule is used for horizontal swing when inhibiting high speed steering, reinforces steering wheel in the stability of center,
Active rotary transform tensor is carried out starting back timing, damping control is carried out in steering wheel hub point region, inhibits back positive overshoot；
Lower layer's control module includes fuzzy-adaptation PID control submodule and motor control submodule；
The fuzzy-adaptation PID control submodule is influenced for controlling EPS system assist motor electric current by vehicle complexity operating condition
And there is very strong uncertainty, eliminate Fuzzy control system static error；
The motor control submodule is for controlling driving wheel and acquisition driving wheel speed signal；
The top level control module continuously receives speed signal, hand-wheel torque signal and steering wheel angle speed when driving
Signal, through straight line Power assisted control submodule export target power-assisted electric current, and real work electric current deviation through fuzzy control submodule
The control voltage of motor is obtained after the fuzzy PID regulation of block, then is controlled by electric current of the pulse modulation technology to motor.
2. a kind of method for applying autonomous driving vehicle EPS control system described in claim 1, which is characterized in that work as steering
Disk is turned right,Greater than 0, right turn assistant mode is opened；When steering wheel turn right,Less than 0, and θsGreater than θth, open the master that turns right
Dynamic damping mode；When steering wheel turn right,Less than 0, and θsLess than θth, open holotype of turning right back；
When steering wheel turn left,Greater than 0, left steering assistant mode is opened；When steering wheel turn left,Less than 0, and | θs| it is greater than | θth
|, open left-hand rotation active damping mode；When steering wheel turn left,Less than 0, while | θs| it is less than | θth|, open holotype of turning left back；
Wherein θsSteering wheel absolute angle,Angular speed, θthSteering reversal overshoot critical angle.
3. according to regard to autonomous driving vehicle EPS control method as claimed in claim 2, which is characterized in that the straight line power-assisted control
System module passes through the functional relation expression between current of electric and hand-wheel torque and speed, function expression are as follows:
Wherein, I is the target current of assist motor；ImaxFor assist motor maximum operating currenbt；TdFor steering wheel input torque；KV
For assist characteristic slope of a curve,TdoSteering wheel input torque when starting power-assisted for steering system；TdmaxFor
The input torque of steering wheel when steering system provides maximum power-assisted.
4. autonomous driving vehicle EPS control method according to claim 3, which is characterized in that Td0=1Nm, Tdmax=
6Nm, Imax=20A.
5. autonomous driving vehicle EPS control method according to claim 4, which is characterized in that when speed is more than preset value
And dtc signal is when being within the scope of [- 1,1] Nm, the damping control submodule carries out damping control.
6. the autonomous driving vehicle EPS control method according to claim 2 to 5, which is characterized in that damping control
Module generates negative-phase sequence curent by control assist motor and provides hair torque, Lai Jinhang damping control.
7. autonomous driving vehicle EPS control method according to claim 6, which is characterized in that fuzzy-adaptation PID control
Module is using the deviation e and its change rate ec of target current and actual motor current as input quantity, pid control parameter Kp、Ka、Kd
Correction amount △ KP、△Ka、△KdFor fuzzy output amount；
The parameter tuning calculation formula of PID controller is within a sampling period
Kp0、Ka0、Kd0It is K respectivelyp、Ka、KdInitial value.
8. autonomous driving vehicle EPS control method according to claim 7, which is characterized in that the Kp0=1.05, Ka0=
0.2, Kd0=0.0015.
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| CN112896291A (en) * | 2021-04-01 | 2021-06-04 | 南京航空航天大学 | Novel composite rack and pinion type active steering system and control method thereof |
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| CN112896291B (en) * | 2021-04-01 | 2022-06-10 | 南京航空航天大学 | Composite gear and rack type active steering system and control method thereof |
| CN113734277A (en) * | 2021-08-20 | 2021-12-03 | 上海汽车工业(集团)总公司 | Intelligent driving SBW steering wheel stillness control method, system and storage medium |
| CN114348108A (en) * | 2021-12-06 | 2022-04-15 | 江苏大学 | Man-machine co-driving multi-mode switching controller, steering system applying same and multi-mode switching control method |
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Application publication date: 20190614 |
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