CN111976824B - Inertia compensation method of electric power steering system and related device - Google Patents
Inertia compensation method of electric power steering system and related device Download PDFInfo
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- CN111976824B CN111976824B CN201910425751.0A CN201910425751A CN111976824B CN 111976824 B CN111976824 B CN 111976824B CN 201910425751 A CN201910425751 A CN 201910425751A CN 111976824 B CN111976824 B CN 111976824B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The inertia compensation method and the related device of the electric power steering system provided by the invention directly take the torque of the steering wheel as input, and calculate and obtain a second component of inertia compensation moment based on the torque of the steering wheel, and belong to feedforward compensation; and calculating to obtain a first component of inertia compensation moment according to the rotating speed of the motor and the vehicle speed, and belonging to feedback compensation. From the force transmission path, the change of the hand force of the driver causes the change of the angular acceleration of the steering wheel shaft, further causes the change of the angular velocity and finally causes the change of the steering angle; it can be seen that there is a distinct chronological order from the moment to the turn angle. The invention combines feedback compensation and feedforward compensation, thereby reducing the lag degree of inertia compensation moment caused by sampling and calculation delay, enabling the inertia compensation moment to truly exert the due compensation effect thereof, reducing the influence of rotational inertia on the dynamic characteristic of the system, enabling the steering response of the system to be more sensitive and accurate, and further improving the driving hand feeling experience of a driver.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to an inertia compensation method for an electric power steering system and a related apparatus.
Background
An electric power steering system is an electric power system that assists a driver in steering operation by using torque output from a motor. The power motor is one of the core components of an electric power steering system. The larger the load of the front axle of the vehicle is, the larger the required power-assisted torque is, namely the larger the power demand on the power-assisted motor is, so that the size of the power-assisted motor is larger; and the volume of the power-assisted motor is increased, so that the rotational inertia of the power-assisted motor is increased. Due to the existence of the speed reducing mechanism, the influence of the rotational inertia of the power-assisted motor on the system is increased by 2 times; resulting in a large negative impact on the steering feel, such as a slow system response, poor follow-up, etc.
At present, in order to relieve the influence of the rotational inertia of the power-assisted motor on the hand feeling of a system, an inertia compensation function is usually introduced into the control. For example, in the manner shown in fig. 1, an inertia friction compensation module is added in addition to the basic booster module, the active restoring module and the yaw moment compensation module to compensate the influence of the inertia of the system on the steering feel. Fig. 2 is a specific calculation process of the inertia friction compensation module, that is, an inertia compensation torque value is calculated and output by using an angular speed and a vehicle speed as input parameter signals. And in the manner shown in fig. 3, the inertia compensation moment is calculated by using the steering wheel angle and the vehicle speed as input parameter signals.
In the existing inertia compensation function, a controller is required to sample and filter a steering angle, then angular acceleration is obtained through two differential operations, and then inertia compensation moment is calculated. This calculation based on the feedback signal causes a delay or lag in the signal, resulting in a delay or lag in the output inertia compensating moment. When the delay or lag exceeds a certain degree, the inertia compensation function loses the actual function, and not only the steering feel cannot be compensated, but also the inertia compensation function can even play a role in reaction.
Disclosure of Invention
In view of this, the invention provides an inertia compensation method and a related device for an electric power steering system, which are intended to reduce the hysteresis degree of inertia compensation torque caused by sampling and calculation delay, so that the inertia compensation torque can truly exert the due compensation effect thereof, the influence of rotational inertia on the dynamic characteristic of the system is reduced, the steering response of the system is more sensitive and accurate, and the driving feeling experience of a driver is improved.
In order to achieve the above object, the following solutions are proposed:
a method of compensating for inertia in an electric power steering system, comprising:
acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of the vehicle;
calculating to obtain a first component of inertia compensation moment according to the motor rotating speed and the vehicle speed;
calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
and adding the first component of the inertia compensation moment and the second component of the inertia compensation moment to obtain the inertia compensation moment.
Optionally, the step of calculating a first component of the inertia compensation moment according to the motor rotation speed and the vehicle speed specifically includes:
carrying out differential operation on the motor rotating speed to obtain the motor angular acceleration;
and matching to obtain a first inertia compensation moment component corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
Optionally, the step of calculating a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed specifically includes:
carrying out differential operation on the steering wheel torque to obtain the steering wheel torque change rate;
and matching to obtain a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
An inertia compensation apparatus of an electric power steering system, comprising:
the data acquisition unit is used for acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of a vehicle;
the first component calculating unit is used for calculating to obtain a first component of the inertia compensation moment according to the rotating speed of the motor and the vehicle speed;
the second component calculation unit is used for calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
and the compensation moment calculation unit is used for adding the first inertia compensation moment component and the second inertia compensation moment component to obtain the inertia compensation moment.
Optionally, the first component calculating unit specifically includes:
the first differential subunit is used for carrying out differential operation on the rotating speed of the motor to obtain the angular acceleration of the motor;
and the first matching subunit is used for matching and obtaining a first component of the inertia compensation moment corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
Optionally, the second component calculating unit specifically includes:
the second differential subunit is used for carrying out differential operation on the steering wheel torque to obtain a steering wheel torque change rate;
and the second matching subunit is used for matching and obtaining a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
A readable storage medium, on which a program is stored, which, when being executed by a processor, carries out the steps of the inertia compensation method described above.
A vehicle, comprising: the device comprises a torque sensor, a rotating speed sensor, a memory and a processor;
the torque sensor is used for acquiring the torque of the steering wheel;
the rotating speed sensor is used for acquiring the rotating speed of the motor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the inertia compensation method.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the inertia compensation method and device of the electric power steering system, the steering wheel torque (namely hand torque) is directly used as input, and the second component of the inertia compensation torque is obtained based on the steering wheel torque calculation and belongs to feed-forward compensation; and calculating to obtain a first component of inertia compensation moment according to the rotating speed of the motor and the vehicle speed, and belonging to feedback compensation. From the force transmission path, the change of the hand force of the driver causes the change of the angular acceleration of the steering wheel shaft, further causes the change of the angular velocity and finally causes the change of the steering angle; it can be seen that there is a distinct chronological order from the moment to the turn angle. The invention combines feedback compensation and feedforward compensation, thereby reducing the lag degree of inertia compensation moment caused by sampling and calculation delay, enabling the inertia compensation moment to truly exert the due compensation effect thereof, reducing the influence of rotational inertia on the dynamic characteristic of the system, enabling the steering response of the system to be more sensitive and accurate, and further improving the driving hand feeling experience of a driver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a prior art inertia compensation scheme;
FIG. 2 is a detailed schematic diagram of the inertia friction compensation module of FIG. 1;
FIG. 3 is a schematic diagram of another prior art inertia compensation scheme;
fig. 4 is a schematic structural diagram of an electric power steering system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an inertia compensation scheme provided by an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for compensating for inertia of an electric power steering system according to an embodiment of the present invention;
fig. 7 is a schematic logical structure diagram of an inertia compensation apparatus of an electric power steering system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 4 shows a schematic structural diagram of an electric power steering system. The rotational movement of the steering wheel 11 is transmitted to a pinion (not shown) through a steering column 12 and an intermediate shaft 13, and drives a steering gear 14 to move left and right, and then drives a steering wheel (not shown) to move left and right through a tie rod 15 and a knuckle arm (not shown), thereby achieving the steering of the vehicle. The torque sensor 16 is mounted on the steering column 12, and collects a steering wheel torque signal and transmits the steering wheel torque signal to an ECU (Electronic control unit) 17. The vehicle speed signal is transmitted to the ECU17 via a CAN (Controller Area Network) bus 18. The rotational speed of the assist motor 19 is also transmitted to the ECU 17. The ECU17 calculates the assisting force moment according to signals such as vehicle speed, motor rotating speed and steering wheel torque; and taking the power-assisted torque as a target torque command. The ECU17 outputs a corresponding drive current to the assist motor 19 based on the calculated target torque command. The assist torque generated by the assist motor 19 is transmitted to the steering column 12 through the reduction mechanism 20, thereby performing an assist function.
Referring to fig. 5, an inertia compensation method for an electric power steering system is to add an inertia compensation module on the basis of a main control module. The inertia compensation module is used for calculating and outputting inertia compensation moment by taking three variables of motor rotating speed, steering wheel torque and vehicle speed as input signals; and then the torque is superposed with the master control torque calculated by the master control module to be used as a final command torque, so that the power-assisted motor is controlled to operate according to the target torque.
Directly taking the steering wheel torque as input, and calculating to obtain a second component of the inertia compensation moment based on the steering wheel torque, wherein the second component belongs to feedforward compensation; and calculating to obtain a first component of inertia compensation moment according to the rotating speed of the motor and the vehicle speed, and belonging to feedback compensation. The invention combines feedback compensation and feedforward compensation, thereby optimizing the traditional inertia compensation method, and providing better compensation effect due to delay or lag caused by signal sampling, filtering, calculation and the like.
Referring to fig. 6, a flowchart of an inertia compensation method for an electric power steering system according to an embodiment of the present invention is provided. The method may comprise the steps of:
s11: and acquiring the rotating speed of the motor, the torque of a steering wheel and the speed of the vehicle.
In one embodiment of the invention, the ECU17 obtains vehicle speed from the CAN bus 18, steering wheel torque from the torque sensor 16, and motor speed from the speed sensor.
S12: and calculating to obtain a first component of the inertia compensation moment according to the obtained motor rotating speed and the obtained vehicle speed.
The process of calculating the first component of the inertia compensation moment according to the motor speed and the vehicle speed belongs to compensation based on a feedback signal, namely feedback compensation. In a specific embodiment of the scheme, the angular acceleration of the motor is obtained by carrying out differential operation on the rotating speed of the motor; and then, matching and obtaining a first component of inertia compensation moment corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
The first mapping table comprises corresponding relations between different motor angular accelerations and different vehicle speeds and the first component of the inertia compensation moment. Therefore, in the actual driving process, the first inertia compensation moment component corresponding to the actual motor angular acceleration and the actual vehicle speed can be obtained through matching through the first mapping table.
The calibration process of the first mapping table is that the vehicle speed, the motor angular acceleration value and the initial compensation torque are set firstly, and then the steering response of the whole vehicle is observed and evaluated under the condition of setting parameters; and (3) increasing the compensation moment if the steering response of the whole vehicle is not as expected, and reducing the compensation moment if the steering response of the whole vehicle is excessive, and repeating the steps to obtain a proper compensation moment as a first component of the inertia compensation moment corresponding to the set vehicle speed and the set angular acceleration of the motor. After inertia compensation moment first components corresponding to a plurality of key vehicle speeds and motor angular acceleration points are determined, inertia compensation moment first components corresponding to other vehicle speeds and motor angular accelerations can be obtained through linear two-dimensional table lookup.
S13: and calculating to obtain a second component of the inertia compensation moment according to the acquired steering wheel torque and the acquired vehicle speed.
The force is the cause of the change in the state of motion of the object. From the transmission path of the electric power steering system force, a change in the driver's hand force causes a change in the steering wheel angular acceleration, causing a change in the steering wheel angular velocity, and ultimately a change in the steering wheel angle. It can be seen that there is a clear chronological order from the moment to the turning angle. The process of calculating the second component of the inertia compensation moment according to the torque of the steering wheel and the vehicle speed belongs to feed-forward compensation, and the hysteresis degree of the compensation moment caused by sampling and calculation delay can be reduced. In one embodiment of the scheme, the steering wheel torque change rate is obtained by carrying out differential operation on the steering wheel torque; and then, matching and obtaining a second inertia compensation moment component corresponding to the torque change rate of the steering wheel and the vehicle speed from a second mapping table calibrated in advance.
The second mapping table contains corresponding relations between different steering wheel torque change rates and different vehicle speeds and the second component of the inertia compensation moment. Therefore, in the actual driving process, the second inertia compensation moment component corresponding to the actual steering wheel torque change rate and the actual vehicle speed can be obtained through matching of the second mapping table.
The calibration process of the second mapping table is similar to that of the first mapping table. Firstly, setting a vehicle speed, a value of a torque change rate of a steering wheel and an initial compensation moment, and observing and evaluating the steering response of the whole vehicle under the running condition of set parameters; and (3) increasing the compensation moment if the steering response of the whole vehicle is not as expected, and reducing the compensation moment if the steering response of the whole vehicle is excessive, and repeating the steps to obtain a proper compensation moment as a second component of the inertia compensation moment corresponding to the set vehicle speed and the set torque change rate of the steering wheel. After inertia compensation moment second components corresponding to a plurality of key vehicle speeds and steering wheel torque change rates are determined, inertia compensation moment second components corresponding to other vehicle speeds and steering wheel torque change rates can be obtained through linear two-dimensional table lookup.
S14: and adding the first component of the inertia compensation moment and the second component of the inertia compensation moment to obtain the inertia compensation moment.
In the invention, feedforward compensation and feedback compensation are added together and supplement each other. The combination of the two has better inertia compensation effect. Delay or lag caused by overlarge inertia of the power-assisted motor is effectively reduced; the dynamic response characteristic of the electric power steering system is improved, and the system response is more sensitive and rapid; the driving quality under the condition of sudden change of steering states such as continuous steering, sharp steering and the like is improved.
For simplicity of explanation, the foregoing method embodiments are described as a series of acts or combinations, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 7, a schematic logical structure diagram of an inertia compensation apparatus of an electric power steering system according to an embodiment of the present invention is provided. The apparatus may include: a data acquisition unit 71, a first component calculation unit 72, a second component calculation unit 73, and a compensation torque calculation unit 74. Wherein the content of the first and second substances,
and a data acquisition unit 71 for acquiring the motor rotation speed, the steering wheel torque and the vehicle speed.
And the first component calculating unit 72 is configured to calculate a first component of the inertia compensation moment according to the motor rotation speed and the vehicle speed.
And the second component calculating unit 73 is configured to calculate a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed.
And a compensation moment calculating unit 74, configured to add the first inertia compensation moment component and the second inertia compensation moment component to obtain an inertia compensation moment.
Optionally, the first component calculating unit 72 specifically includes a first differential subunit and a first matching subunit. The first differential subunit is used for carrying out differential operation on the rotating speed of the motor to obtain the angular acceleration of the motor; and the first matching subunit is used for matching and obtaining a first component of the inertia compensation moment corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
Optionally, the second component calculating unit 73 specifically includes a second differential subunit and a second matching subunit. The second differential subunit is used for carrying out differential operation on the steering wheel torque to obtain a steering wheel torque change rate; and the second matching subunit is used for matching and obtaining a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
The inertia compensation device provided by the embodiment of the invention can be applied to controllers on vehicles, such as ECU (electronic control unit).
An embodiment of the invention provides a vehicle, which comprises a torque sensor, a rotating speed sensor, a memory and a processor.
And the torque sensor is used for acquiring the torque of the steering wheel.
And the rotating speed sensor is used for acquiring the rotating speed of the motor.
The processor is a central processing unit CPU or an application Specific Integrated circuit asic or one or more Integrated circuits configured to implement embodiments of the present invention, etc.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory.
Wherein the memory stores a program and the processor can call the program stored in the memory, the program for:
acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of the vehicle;
calculating to obtain a first component of inertia compensation moment according to the motor rotating speed and the vehicle speed;
calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
and adding the first component of the inertia compensation moment and the second component of the inertia compensation moment to obtain the inertia compensation moment.
Optionally, the step of calculating a first component of the inertia compensation moment according to the motor rotation speed and the vehicle speed specifically includes:
carrying out differential operation on the motor rotating speed to obtain the motor angular acceleration;
and matching to obtain a first inertia compensation moment component corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
Optionally, the step of calculating a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed specifically includes:
carrying out differential operation on the steering wheel torque to obtain the steering wheel torque change rate;
and matching to obtain a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
An embodiment of the present invention further provides a readable storage medium, where the readable storage medium may store a program adapted to be executed by a processor, where the program is configured to:
acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of the vehicle;
calculating to obtain a first component of inertia compensation moment according to the motor rotating speed and the vehicle speed;
calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
and adding the first component of the inertia compensation moment and the second component of the inertia compensation moment to obtain the inertia compensation moment.
Optionally, the step of calculating a first component of the inertia compensation moment according to the motor rotation speed and the vehicle speed specifically includes:
carrying out differential operation on the motor rotating speed to obtain the motor angular acceleration;
and matching to obtain a first inertia compensation moment component corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
Optionally, the step of calculating a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed specifically includes:
carrying out differential operation on the steering wheel torque to obtain the steering wheel torque change rate;
and matching to obtain a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
The above-described apparatus embodiments are merely illustrative, wherein the units described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of compensating for inertia in an electric power steering system, comprising:
acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of the vehicle;
carrying out differential operation on the motor rotating speed to obtain the motor angular acceleration;
matching and obtaining a first component of inertia compensation moment corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance;
calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
and adding the first component of the inertia compensation moment and the second component of the inertia compensation moment to obtain the inertia compensation moment.
2. The method according to claim 1, wherein the step of calculating the second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed comprises:
carrying out differential operation on the steering wheel torque to obtain the steering wheel torque change rate;
and matching to obtain a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
3. An inertia compensation apparatus of an electric power steering system, comprising:
the data acquisition unit is used for acquiring the rotating speed of a motor, the torque of a steering wheel and the speed of a vehicle;
the first component calculating unit is used for calculating to obtain a first component of the inertia compensation moment according to the rotating speed of the motor and the vehicle speed;
the second component calculation unit is used for calculating to obtain a second component of the inertia compensation moment according to the steering wheel torque and the vehicle speed;
the compensation moment calculation unit is used for adding the first inertia compensation moment component and the second inertia compensation moment component to obtain inertia compensation moment;
the first component calculating unit specifically includes:
the first differential subunit is used for carrying out differential operation on the rotating speed of the motor to obtain the angular acceleration of the motor;
and the first matching subunit is used for matching and obtaining a first component of the inertia compensation moment corresponding to the angular acceleration of the motor and the vehicle speed from a first mapping table calibrated in advance.
4. The apparatus according to claim 3, wherein the second component calculating unit specifically includes:
the second differential subunit is used for carrying out differential operation on the steering wheel torque to obtain a steering wheel torque change rate;
and the second matching subunit is used for matching and obtaining a second inertia compensation moment component corresponding to the steering wheel torque change rate and the vehicle speed from a second mapping table calibrated in advance.
5. A readable storage medium on which a program is stored, wherein the program, when executed by a processor, performs the steps of the inertia compensation method according to any one of claims 1 to 2.
6. A vehicle, characterized by comprising: the device comprises a torque sensor, a rotating speed sensor, a memory and a processor;
the torque sensor is used for acquiring the torque of the steering wheel;
the rotating speed sensor is used for acquiring the rotating speed of the motor;
the memory is used for storing programs;
the processor is used for executing the program and realizing the steps of the inertia compensation method according to any one of claims 1 to 2.
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| CN109533013A (en) * | 2018-11-30 | 2019-03-29 | 北京经纬恒润科技有限公司 | A kind of electric boosting steering system and its friction compensation method and controller |
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