CN113184050B - Compensation method and compensation system for shimmy of vehicle steering wheel - Google Patents
Compensation method and compensation system for shimmy of vehicle steering wheel Download PDFInfo
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- CN113184050B CN113184050B CN202110601543.9A CN202110601543A CN113184050B CN 113184050 B CN113184050 B CN 113184050B CN 202110601543 A CN202110601543 A CN 202110601543A CN 113184050 B CN113184050 B CN 113184050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/22—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system
- B62D7/222—Arrangements for reducing or eliminating reaction, e.g. vibration, from parts, e.g. wheels, of the steering system acting on the steering wheel
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Abstract
The invention discloses a compensation method and a compensation system for shimmy of a vehicle steering wheel, wherein the compensation method comprises the following steps: when the shimmy compensation working condition of the steering wheel is met, calculating the shimmy suppression moment T of the steering wheel rt (ii) a Judging steering wheel shimmy suppression moment T rt With a predetermined torque threshold T ts Size of (c), if T rt ＞T ts Make the steering wheel shimmy compensate the moment T cp =T ts If T is rt ＜‑T ts Make the steering wheel shimmy compensate the moment T cp =‑T ts Rho | T rt ｜≤T ts Make the steering wheel shimmy compensate the moment T cp =T rt (ii) a Calculating shimmy compensation current I of the steering wheel; and generating a motor control command according to the steering wheel shimmy compensation current I and a preset compensation application time t, and controlling an EPS motor to execute the motor control command to compensate steering wheel shimmy. The invention can reduce hand force fluctuation caused by road surface excitation, reduce steering wheel shimmy and improve driving experience and driving safety.
Description
Technical Field
The invention relates to the field of automobile steering systems, in particular to a compensation method and a compensation system for shimmy of a vehicle steering wheel.
Background
In recent years, the automobile industry is developed rapidly, people have higher and higher requirements on automobile fuel economy, and more automobiles are provided with electric power steering systems (EPS for short), so that the system can enable a driver to operate and steer more conveniently, can timely and accurately execute a driver steering operation instruction, can save fuel and is more environment-friendly. However, when the vehicle encounters uneven road impact, tire eccentric wear, improper tire dynamic balance, high-speed braking and the like during running, road excitation is transmitted to a response end, namely a steering wheel through the amplification effect of a suspension and a steering system in a fixed frequency range, so that the vibration (shimmy) of the steering wheel and the visual angle and hand feeling of a driver are uncomfortable, the driver complaint is caused, and the driving experience and the driving safety are influenced.
Disclosure of Invention
The invention aims to provide a compensation method and a compensation system for shimmy of a vehicle steering wheel, so as to reduce hand force fluctuation caused by road excitation, reduce shimmy of the steering wheel and improve driving experience and driving safety.
The invention relates to a method for compensating shimmy of a vehicle steering wheel, which comprises the following steps:
when the shimmy compensation working condition of the steering wheel is met, the formula is utilized: t is rt =K*T h Calculating the steering wheel shimmy suppression moment T rt . Wherein K is a preset inhibition coefficient, T h A hand torque applied to the steering wheel for the driver.
Judging steering wheel shimmy suppression moment T rt With a predetermined torque threshold T ts （T ts > 0) if T rt ＞T ts Make the steering wheel shimmy compensate the moment T cp = T ts If T is rt ＜-T ts Make the steering wheel shimmy compensate the moment T cp =-T ts (vii) hydroxy | T rt ｜≤T ts (i.e., if T) rt Is less than or equal to T ts ) Make the steering wheel shimmy compensate the moment T cp = T rt . Steering wheel shimmy compensation moment T cp May be positive or negative, and the steering wheel shimmy compensating moment T cp Positive and negative of (b) indicate its direction of application.
Using the formula: i = (9.55 u g h)/(T) cp * n), calculating the shimmy compensation current I of the steering wheel. U is the voltage of the whole vehicle, G is the preset transmission ratio of the worm and gear speed reducing mechanism, H is the preset mechanical transmission efficiency coefficient, and n is the rotation speed of the EPS motor.
And generating a motor control command according to the steering wheel shimmy compensation current I and a preset compensation applying moment t, and controlling an EPS motor to execute the motor control command to compensate the steering wheel shimmy. The steering wheel shimmy compensation current I may be a positive value or a negative value, and the positive and negative values of the steering wheel shimmy compensation current I indicate the direction thereof.
Preferably, if the steering wheel shimmy compensation enable is in an open state, the vehicle speed is greater than a preset vehicle speed threshold value, and the wheel speed of the left front wheel and the wheel speed of the right front wheel are both in a preset wheel speed range, it indicates that the steering wheel shimmy compensation working condition is satisfied.
The preset suppression coefficient K and the preset compensation application time t are obtained by:
firstly, carrying out a steering wheel shimmy compensation test during vehicle development of a corresponding vehicle type, and obtaining different steering wheel vibration speeds by utilizing the combined action of two variable factors at different suppression coefficients and different compensation application moments.
Step two, after arranging different steering wheel vibration speeds, corresponding suppression coefficients and compensation applying time, inputting Minitab software to perform data fitting processing to obtain a steering wheel vibration speed fitting formula:
V= A 0 -B 0 *K 0 -C 0 * t 0 +D 0 * K 0 2 -E 0 *t 0 2 +F 0 *K 0 *t 0 . Wherein V is the steering wheel vibration speed, K 0 To suppress the coefficient, t 0 To compensate for the application time, A 0 、B 0 、C 0 、D 0 、E 0 、F 0 Are all constants obtained by fitting.
Thirdly, based on the inhibition coefficient K 0 Is in the range of 0 to 0.5, and the application time t 0 The range of the damping coefficient is-180 DEG to +180 DEG, the target value of the steering wheel vibration speed V is less than or equal to the preset vehicle type vibration speed threshold, and the optimal solution of the vehicle under the target value is calculated to obtain the calculated value of the damping coefficient and the calculated value of the application time.
And fourthly, taking the calculated value of the suppression coefficient as the preset suppression coefficient K, and taking the calculated value of the application time as the preset compensation application time t.
Preferably, the preset vehicle speed threshold is 70 km/h, and the preset wheel speed range is 8C to 20Cr/s; wherein C is a preset tire circumference.
The invention relates to a vehicle steering wheel shimmy compensation system, which comprises an ESP system (namely a vehicle body electronic stabilizing system), an EPS sensing module, an EPS controller and an EPS motor, wherein the ESP system is in communication connection with the EPS controller through a CAN bus, the EPS sensing module is connected with the EPS controller through a hard wire, the EPS controller is connected with the EPS motor through a hard wire, the ESP system sends acquired vehicle speed signals, left front wheel speed signals and right front wheel speed signals to the CAN bus, the EPS controller acquires a whole vehicle voltage signal, a steering wheel shimmy compensation enabling state signal, a vehicle speed signal, left front wheel speed signals and right front wheel speed signals from the CAN bus, the EPS controller acquires hand force moment signals, acquired by the EPS sensing module, of a driver on a steering wheel from the EPS sensing module, the EPS controller controls the EPS motor to execute a motor control instruction, and the EPS controller acquires EPS motor rotating speed signals from the EPS motor; the EPS controller is programmed to perform the compensation method described above.
The invention has the following effects:
when the steering wheel shimmy compensation working condition is met, calculating steering wheel shimmy suppression torque by using the suppression coefficient and hand force torque applied to the steering wheel by a driver, and comparing the steering wheel shimmy suppression torque with a preset torque threshold value to further determine the steering wheel shimmy compensation torque, so that the accuracy of the compensation torque is ensured while the extreme condition of a vehicle is avoided; under the conditions of uneven road impact, eccentric tire wear, incorrect tire dynamic balance, high-speed braking and the like of a vehicle, road excitation is inhibited by the compensating moment applied by the EPS motor, so that hand force fluctuation caused by road excitation is reduced, steering wheel shimmy is reduced, and driving experience and driving safety are improved.
Drawings
Fig. 1 is a schematic block diagram of a system for compensating for shimmy of a steering wheel of a vehicle according to the present embodiment.
Fig. 2 is a flowchart of a method for compensating for shimmy of a steering wheel of a vehicle according to the present embodiment.
Detailed Description
As shown in fig. 1, the system for compensating for shimmy of a steering wheel of a vehicle in the present embodiment includes an ESP system (i.e., a vehicle body electronic stability system) 1, an EPS sensing module 2 (e.g., a torque sensor), an EPS controller 3, and an EPS motor 4, where the ESP system 1 is in communication connection with the EPS controller 3 through a CAN bus, the EPS sensing module 2 is connected with the EPS controller 3 through a hard wire, and the EPS controller 3 is connected with the EPS motor 4 through a hard wire. The ESP system 1 sends collected vehicle speed signals, left front wheel speed signals and right front wheel speed signals to a CAN bus, an EPS controller 3 obtains vehicle voltage signals (the vehicle voltage signals CAN be sent to the CAN bus by a battery management system), steering wheel shimmy compensation enabling state signals (the steering wheel shimmy compensation enabling state signals CAN be sent to the CAN bus by an entertainment system) and vehicle speed signals, left front wheel speed signals and right front wheel speed signals from the CAN bus, the EPS controller 3 obtains hand force moment signals, collected by the EPS sensing module 2, applied to a steering wheel by a driver from the EPS sensing module 2, the EPS controller 3 controls an EPS motor 4 to execute motor control instructions, and the EPS controller 3 obtains EPS motor speed signals from the EPS motor 4.
As shown in fig. 2, the method for compensating for the shimmy of the steering wheel of the vehicle in the present embodiment is executed by the EPS controller 3, and includes:
the method comprises the steps of firstly, judging whether the shimmy compensation enabling of the steering wheel is in an opening state, if so, executing the second step, and if not, finishing.
And secondly, judging whether the vehicle speed is greater than a preset vehicle speed threshold (the preset vehicle speed threshold can be calibrated according to different vehicle types, and the value is 70 km/h in the embodiment), if so, executing the third step, and otherwise, returning to execute the first step.
And thirdly, judging whether the wheel speed of the left front wheel and the wheel speed of the right front wheel are both in a preset wheel speed range (the preset wheel speed range can be calibrated according to different vehicle types, the value in the embodiment is 8C to 20Cr/s, and C is a preset tire circumference), if so, executing the fourth step, otherwise, returning to execute the first step.
Fourthly, using a formula: t is rt =K*T h Calculating the steering wheel shimmy suppression moment T rt And then the fifth step is executed. Wherein K is a preset suppression coefficient, T h A hand torque on the steering wheel is applied to the driver.
Fifthly, judging the shimmy restraining moment T of the steering wheel rt Whether it is greater than a predetermined torque threshold T ts （T ts > 0), if yes, the sixth step is executed, otherwise the seventh step is executed.
Sixthly, the steering wheel shimmy compensation torque T cp = T ts And then the tenth step is executed.
Seventhly, judging the shimmy and suppression of the steering wheelBraking moment T rt Whether or not less than-T ts If so, then an eighth step is performed, otherwise (i.e. | T) rt ｜≤T ts Time) the ninth step is executed.
Eighth step of making the steering wheel shimmy to compensate the moment T cp = -T ts And then the tenth step is executed.
Ninth step of compensating torque T for shimmy of steering wheel cp = T rt And then the tenth step is executed.
Step ten, using a formula: i = (9.55 u g h)/(T) cp * n), calculating the steering wheel shimmy compensation current I, and then executing the eleventh step. U is the voltage of the whole vehicle, G is the preset transmission ratio of the worm and gear speed reducing mechanism, H is the preset mechanical transmission efficiency coefficient, and n is the rotation speed of the EPS motor.
And step eleven, generating a motor control instruction according to the shimmy compensation current I of the steering wheel and a preset compensation application time t, controlling the EPS motor 4 to execute the motor control instruction, compensating the shimmy of the steering wheel, and finishing.
The preset suppression coefficient K and the preset compensation application time t in the above compensation method are obtained as follows:
firstly, carrying out a steering wheel shimmy compensation test during vehicle development of corresponding vehicle types, and obtaining different steering wheel vibration speeds by utilizing the combined action of two variable factors at different suppression coefficients and different compensation applying moments.
And secondly, after finishing different steering wheel vibration speeds, corresponding suppression coefficients and compensation applying time, inputting Minitab software to perform data fitting processing to obtain a steering wheel vibration speed fitting formula:
V= A 0 -B 0 *K 0 -C 0 *t 0 +D 0 * K 0 2 -E 0 *t 0 2 +F 0 *K 0 *t 0 (ii) a Wherein V is the steering wheel vibration speed, K 0 To suppress the coefficient, t 0 To compensate for the application time, A 0 、B 0 、C 0 、D 0 、E 0 、F 0 Are all constants obtained by fitting.
Thirdly, based on the inhibition coefficient K 0 Is in the range of 0 to 0.5, and the application time t 0 The range of the damping coefficient is-180 DEG to +180 DEG, the target value of the steering wheel vibration speed V is less than or equal to the preset vehicle type vibration speed threshold, and the optimal solution of the vehicle under the target value is calculated in Minitab software to obtain the calculated value of the damping coefficient and the calculated value of the application time.
And fourthly, taking a calculated value of the suppression coefficient (obtained by calculating the optimal solution) as a preset suppression coefficient K, and taking a calculated value of the application time (obtained by calculating the optimal solution) as a preset compensation application time t.
Claims (4)
1. A method of compensating for shimmy of a steering wheel of a vehicle, comprising:
when the steering wheel shimmy compensation working condition is met, the formula is utilized: t is rt =K*T h Calculating the steering wheel shimmy suppression torque T rt (ii) a Wherein K is a preset suppression coefficient, T h A hand torque applied to the steering wheel for the driver;
judging steering wheel shimmy suppression torque T rt With a predetermined torque threshold T ts Size of (c), if T rt ＞T ts Make the steering wheel shimmy compensate the moment T cp = T ts If T is rt ＜-T ts Make the steering wheel shimmy compensate the moment T cp =-T ts Rho | T rt ｜≤T ts Make the steering wheel shimmy compensate the moment T cp = T rt ；
Using the formula: i = (9.55 u g h)/(T) cp * n), calculating the shimmy compensation current I of the steering wheel; u is the voltage of the whole vehicle, G is the preset transmission ratio of the worm and gear speed reducing mechanism, H is the preset mechanical transmission efficiency coefficient, and n is the rotation speed of the EPS motor;
generating a motor control command according to the steering wheel shimmy compensation current I and a preset compensation applying moment t, and controlling an EPS motor to execute the motor control command to compensate the steering wheel shimmy;
wherein the preset suppression coefficient K and the preset compensation application time t are obtained as follows:
firstly, carrying out a steering wheel shimmy compensation test during vehicle development of a corresponding vehicle type, and obtaining different steering wheel vibration speeds by utilizing the combined action of two variable factors at different suppression coefficients and different compensation application moments;
step two, after arranging different steering wheel vibration speeds, corresponding suppression coefficients and compensation applying time, inputting Minitab software to perform data fitting processing to obtain a steering wheel vibration speed fitting formula:
V= A 0 -B 0 *K 0 -C 0 *t 0 +D 0 * K 0 2 -E 0 *t 0 2 +F 0 *K 0 *t 0 (ii) a Wherein V is the steering wheel vibration speed, K 0 To suppress the coefficient, t 0 To compensate for the application time, A 0 、B 0 、C 0 、D 0 、E 0 、F 0 All are constants obtained by fitting;
thirdly, based on the inhibition coefficient K 0 The range of (1) is 0 to 0.5, and the application time t 0 The range of the angle is-180 DEG to +180 DEG, and the target value of the steering wheel vibration speed V is less than or equal to the preset vehicle model vibration speed threshold value, and the optimal solution of the vehicle under the target value is calculated to obtain the calculated value of the suppression coefficient and the calculated value of the application time;
and fourthly, taking a calculated value of the suppression coefficient as the preset suppression coefficient K, and taking a calculated value of the application time as the preset compensation application time t.
2. The method for compensating for shimmy of a steering wheel of a vehicle according to claim 1, wherein: if the steering wheel shimmy compensation enable is in an opening state, the vehicle speed is greater than a preset vehicle speed threshold value, and the wheel speed of the left front wheel and the wheel speed of the right front wheel are both in a preset wheel speed range, the steering wheel shimmy compensation working condition is met.
3. The method for compensating for shimmy of a steering wheel of a vehicle according to claim 2, characterized in that: the preset vehicle speed threshold value is 70 km/h, and the preset wheel speed range is 8C to 20Cr/s; wherein C is a preset tire circumference.
4. A compensation system for shimmy of a vehicle steering wheel comprises an ESP system (1), an EPS sensing module (2), an EPS controller (3) and an EPS motor (4), wherein the ESP system (1) is in communication connection with the EPS controller (3) through a CAN bus, the EPS sensing module (2) is connected with the EPS controller (3) through a hard wire, the EPS controller (3) is connected with the EPS motor (4) through a hard wire, the ESP system (1) sends collected vehicle speed signals, left front wheel speed signals and right front wheel speed signals to the CAN bus, the EPS controller (3) obtains vehicle voltage signals, steering wheel shimmy compensation enabling state signals and vehicle speed signals, left front wheel speed signals and right front wheel speed signals from the CAN bus, the EPS controller (3) obtains hand force signals, collected by the EPS sensing module (2), applied to the steering wheel by a driver, from the EPS sensing module (2), and the EPS controller (3) controls the EPS motor (4) to execute motor control instructions and obtains the EPS motor control speed signals from the EPS motor (4); the method is characterized in that: the EPS controller (3) is programmed so as to carry out a compensation method according to any one of claims 1 to 3.
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| CN114919659B (en) * | 2022-04-22 | 2023-11-21 | 一汽奔腾轿车有限公司 | EPS-based method and system for inhibiting wheel shimmy |
| CN117485427B (en) * | 2024-01-03 | 2024-04-09 | 博世汽车转向系统（济南）有限公司 | Universal joint compensation method for steering system, corresponding compensation system and steering system |
| CN118529130A (en) * | 2024-07-25 | 2024-08-23 | 上海同驭汽车科技有限公司 | Pendulum vibration compensation method, steering system and vehicle |
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