CN114312980A - Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle - Google Patents
Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle Download PDFInfo
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Abstract
The utility model provides a control method of a vehicle power-assisted steering system, the vehicle power-assisted steering system and a vehicle, wherein the control method comprises the following steps: acquiring vehicle speed information of a vehicle and rack position information of a steering gear rack, and obtaining a target rack moving speed value of the steering gear rack and a proportionality coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1(ii) a Acquiring an actual rack moving speed value of a steering gear rack, and obtaining a rack moving speed error value through a target rack moving speed value and the actual rack moving speed value; according to the error value of the moving speed of the rack and the proportionality coefficient K1And obtaining the active aligning moment value. Therefore, compared with the prior art, the control method of the vehicle power-assisted steering system can enable the vehicle power-assisted steering system to provide proper aligning torque for the steering wheel at different vehicle speeds, so that the steering operation hand feeling of the steering wheel is smoother, the stability and the accuracy of the active aligning function of the vehicle can be improved, and the driving safety of the vehicle can be improved.
Description
Technical Field
The utility model relates to the technical field of vehicles, in particular to a control method of a vehicle power-assisted steering system, the vehicle power-assisted steering system and a vehicle.
Background
An Electric Power Steering (Electric Steering) system provides a aligning torque for a Steering wheel in the Steering process of a vehicle, and the aligning torque can enable the vehicle to be steered easily and sensitively at different vehicle speeds.
In the related art, the control method of the conventional vehicle power-assisted steering system judges the steering state of the vehicle by acquiring a corner signal of the vehicle and controls the aligning speed and aligning torque of a steering wheel by the corner signal, when the corner signal has a problem, the vehicle power-assisted steering system fails, and the conventional vehicle power-assisted steering system is not aligned enough at a low speed and is aligned and overshot at a high speed, so that the stability and accuracy of the active aligning function of the vehicle are poor, and the aligning performance of the steering wheel is influenced.
Disclosure of Invention
In view of this, the present invention is directed to a control method of a power steering system of a vehicle, which can provide a proper aligning torque for a steering wheel at different speeds, so that the steering operation feel of the steering wheel is smoother, the stability and accuracy of the active aligning function of the vehicle can be improved, and the driving safety of the vehicle can be improved.
In order to achieve the purpose, the technical scheme of the utility model is realized as follows:
control of vehicle power-assisted steering systemThe preparation method comprises the following steps: acquiring vehicle speed information of a vehicle and rack position information of a steering gear rack, and obtaining a target rack moving speed value of the steering gear rack and a proportionality coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1(ii) a Acquiring an actual rack moving speed value of the steering gear rack, and obtaining a rack moving speed error value through the target rack moving speed value and the actual rack moving speed value; according to the rack moving speed error value and the proportionality coefficient K1And obtaining an active aligning moment value, and assisting the steering wheel of the vehicle to steer through the active aligning moment value.
In some examples of the present invention, the acquiring an actual rack moving speed value of the steering rack, and obtaining a rack moving speed error value according to the target rack moving speed value and the actual rack moving speed value includes: and subtracting the actual rack moving speed value from the target rack moving speed value to obtain the rack moving speed error value.
In some examples of the present invention, the vehicle speed information includes: an actual vehicle speed value of the vehicle.
In some examples of the present invention, the control method of a power steering system for a vehicle further includes: obtaining the hand force value of a driver holding a steering wheel, and obtaining a proportionality coefficient K through the hand force value2When the target rack moving speed value is greater than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2And obtaining the active aligning moment value, and preventing the steering wheel from aligning through the active aligning moment value.
In some examples of the present invention, the control method of a power steering system for a vehicle further includes: obtaining the hand force value of a driver holding a steering wheel, and obtaining a proportionality coefficient K through the hand force value2When the target rack moving speed value is smaller than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2Obtaining the active aligning momentA value to assist the steering wheel in returning by the active return torque value.
Compared with the prior art, the control method of the vehicle power-assisted steering system has the following advantages:
according to the control method of the vehicle power-assisted steering system, the vehicle power-assisted steering system can provide proper aligning torque for the steering wheel under different vehicle speeds, so that the steering operation hand feeling of the steering wheel can be smoother, the stability and the accuracy of the vehicle active aligning function can be improved, and the driving safety of the vehicle can be improved.
Another object of the present invention is to provide a vehicle power steering system of a vehicle.
In order to achieve the purpose, the technical scheme of the utility model is realized as follows:
a vehicle power steering system for a vehicle, comprising: the first detection module is used for detecting the vehicle speed information of the vehicle, and the vehicle speed information is an actual vehicle speed value; the second detection module is used for detecting rack position information and an actual rack moving speed value of the steering gear rack; the judgment module is connected with the first detection module and the second detection module and is used for obtaining a target rack moving speed value of the steering gear rack and a proportional coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1The target rack moving speed value and the actual rack moving speed value are used for obtaining a rack moving speed error value; the control module is connected with the judging module and used for judging the gear rack moving speed error value and the proportionality coefficient K according to the gear rack moving speed error value1And obtaining an active aligning moment value, and controlling a steering power-assisted motor to assist the steering wheel of the vehicle to steer through the active aligning moment value.
In some examples of the present invention, the first detection module is a wheel speed sensor and the second detection module is a rack position sensor.
In some examples of the present invention, the vehicle power steering system of the vehicle further includes: and the torque sensor is connected with the judging module and is arranged on a steering wheel of the vehicle.
In some examples of the utility model, the determining module is configured to derive the scaling factor K from the hand strength value2And judging the magnitude relation between the target rack moving speed value and the actual rack moving speed value.
Compared with the prior art, the vehicle power-assisted steering system of the vehicle has the following advantages:
compared with the prior art, the vehicle power-assisted steering system of the vehicle can provide proper aligning torque for the steering wheel under different vehicle speeds, so that the steering operation hand feeling of the steering wheel can be smoother, the stability and the accuracy of the active aligning function of the vehicle can be improved, and the driving safety of the vehicle can be improved.
Another object of the utility model is to propose a vehicle.
In order to achieve the purpose, the technical scheme of the utility model is realized as follows:
a vehicle comprises the control method of the vehicle power-assisted steering system and the vehicle power-assisted steering system.
The vehicle, the control method of the vehicle power-assisted steering system and the vehicle power-assisted steering system have the same advantages compared with the prior art, and detailed description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:
FIG. 1 is a flow chart of a control method according to an embodiment of the present invention;
fig. 2 is a block diagram of a power steering system for a vehicle according to an embodiment of the present invention.
Description of reference numerals:
a vehicle power steering system 100;
a first detection module 10; a second detection module 20; a judgment module 30; a control module 40; a torque sensor 50.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 and 2, according to the control method of the vehicle power steering system according to the embodiment of the present invention, the control method may be provided on the vehicle power steering system. The control method comprises the following steps:
s1, obtaining vehicle speed information and rack position information of the steering gear rack, and obtaining a target rack moving speed value of the steering gear rack and a proportionality coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1It should be noted that a rack is arranged at a steering gear of the vehicle, the rack can move in the length direction of the rack, table data related to the rack position and the vehicle speed is preset in a vehicle power-assisted steering system, after vehicle speed information and rack position information of the steering gear rack are detected, a target rack movement speed value can be obtained by table lookup, and similarly, a proportionality coefficient K of the rack movement speed can be obtained by table lookup1。
And S2, acquiring an actual rack moving speed value of the steering gear rack, and obtaining a rack moving speed error value through the target rack moving speed value and the actual rack moving speed value.
S3, according to the error value of the rack moving speed and the proportionality coefficient K1And obtaining an active aligning torque value, and assisting the steering of a steering wheel of the vehicle through the active aligning torque value. It should be noted that the error value of the rack moving speed is multiplied by the proportionality coefficient K1And obtaining an active aligning moment value, and assisting the steering wheel of the vehicle to steer according to the active aligning moment value after obtaining the active aligning moment value.
Wherein the vehicle is turning due to four wheel parameters and suspension factorsIn the process, the ground applies a aligning moment to the steering wheel through the tire and the suspension, so that the steering wheel can return to the middle position, and the vehicle can run forwards along a straight line. However, at low vehicle speeds, this aligning torque is often insufficient to support steering wheel alignment, and therefore a vehicle power steering system is required in the vehicle, which can provide an active aligning torque to the vehicle. When the vehicle is in a steering state, the rack position of the rack of the steering gear can be deviated relative to the aligning position, the rack position information of the rack of the steering gear is the deviation amount of the actual position of the rack relative to the aligning position when the vehicle steers, and the target rack moving speed value of the rack of the steering gear and the proportionality coefficient K of the rack moving speed can be obtained by acquiring the vehicle speed information of the vehicle and the rack position information of the rack of the steering gear1The target rack moving speed value is the return-to-normal speed which the steering wheel should have when the vehicle is at a certain vehicle speed and the steering gear rack moves by a certain offset, and the rack moving speed error value can be obtained by acquiring the actual rack moving speed value and calculating the error value. By the proportionality coefficient K1The active aligning torque value can be calculated by multiplying the rack moving speed error value, and the steering of the steering wheel of the vehicle is assisted by the active aligning torque value. The control method is a closed-loop feedback control system, the control method needs to acquire vehicle speed information of a vehicle and rack position information of a steering gear rack in real time, and the active aligning torque value is adjusted according to the vehicle speed information and the rack position information obtained through feedback.
Therefore, compared with the prior art, the control method of the vehicle power-assisted steering system can enable the vehicle power-assisted steering system to provide proper aligning torque for the steering wheel at different vehicle speeds, so that the steering operation hand feeling of the steering wheel is smoother, the stability and the accuracy of the active aligning function of the vehicle can be improved, and the driving safety of the vehicle can be improved.
In some embodiments of the present invention, acquiring an actual rack moving speed value of a rack of a steering gear, and obtaining a rack moving speed error value according to a target rack moving speed value and the actual rack moving speed value includes: and subtracting the actual rack moving speed value from the target rack moving speed value to obtain a rack moving speed error value. The method comprises the steps that an actual rack moving speed value is subtracted from a target rack moving speed value to obtain a rack moving speed error value, when the rack moving speed error value is a negative value, the steering wheel is not light to operate, an active aligning torque needs to be provided by a vehicle power-assisted steering system, the power-assisted steering wheel is aligned, when the rack moving speed error value is a positive value, the steering wheel is over sensitive to operate, the safety of a vehicle can be reduced, and the active aligning torque value needs to be reduced by the vehicle power-assisted steering system.
In some embodiments of the utility model, the vehicle speed information may include: an actual vehicle speed value of the vehicle. The actual vehicle speed value of the vehicle can influence the magnitude of the vehicle aligning torque, the vehicle is easy to align and is insufficient at a low speed, the vehicle is easy to align and overshoot at a high speed, and therefore the safety of the vehicle is reduced, the actual vehicle speed value of the vehicle needs to be obtained, and the magnitude of the active aligning torque value is changed according to the actual vehicle speed value of the vehicle.
In some embodiments of the utility model, the control method may further comprise: obtaining the hand force value of the driver holding the steering wheel, and obtaining the proportionality coefficient K through the hand force value2It should be noted that a hand force value is correspondingly provided with a proportionality coefficient K2The hand force value and the proportionality coefficient K are pre-determined2The table data is stored in the vehicle power-assisted steering system, and after the hand force value of a driver holding the steering wheel is detected, the scale coefficient K can be obtained by looking up the table2。
When the target rack moving speed value is greater than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2And obtaining an active aligning moment value, and preventing the steering wheel from aligning through the active aligning moment value. In the conventional power steering system for vehicleIn the control method, the return-to-normal state of the vehicle needs to be judged, but the motion state of the vehicle is complex, and under the working condition that the vehicle needs to be frequently steered, the hand force value is fluctuated by misjudging the return-to-normal state of the vehicle, so that the steering portability is reduced, and the vehicle is difficult to control. The control method judges whether the vehicle needs to use the power-assisted steering system or not through the error value of the moving speed of the rack, thereby reducing the judgment of the complex motion state of the vehicle and improving the stability of the control system. Specifically, the rack moving speed error value x the proportionality coefficient K1X proportional coefficient K2The active aligning torque value is calculated through the PID controller, so that frequent switching of steering working conditions can be reduced, and the steering hand feeling is smooth.
In some embodiments of the utility model, the control method may further comprise: obtaining the hand force value of the driver holding the steering wheel, and obtaining the proportionality coefficient K through the hand force value2When the target rack moving speed value is smaller than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2An active aligning torque value can be obtained, and the steering wheel can be assisted to align through the active aligning torque value. Specifically, the rack moving speed error value x the proportionality coefficient K1X proportional coefficient K2The active aligning moment value is calculated through the PID controller, so that frequent switching of steering working conditions can be further reduced, and the steering hand feeling is further ensured to be smooth.
It should be noted that the control method can be divided into two modules, including a return speed control module and a hand power coefficient module, and the return speed control module can obtain the error value of the rack moving speed and the proportionality coefficient K1The scale factor K can be obtained through the hand force coefficient module2The accuracy of the active return-to-center function of the vehicle can be improved through the return-to-center speed control module and the hand force coefficient module. When the hand force coefficient module fails, the control method can still control the power-assisted steering system of the vehicle to work, so that the stability of the active return function of the vehicle can be improved.
Vehicle according to embodiment of the utility modelThe vehicle power steering system 100 is the vehicle power steering system 100 of the above embodiment, the vehicle power steering system 100 may be disposed on a vehicle, and the vehicle power steering system 100 includes: the system comprises a first detection module 10, a second detection module 20, a judgment module 30 and a control module 40, wherein the first detection module 10 is used for detecting vehicle speed information of a vehicle, the vehicle speed information is an actual vehicle speed value, the second detection module 20 is used for detecting rack position information and an actual rack moving speed value of a steering gear rack, the judgment module 30 is connected with the first detection module 10 and the second detection module 20, and the judgment module 30 is used for obtaining a target rack moving speed value and a proportional coefficient K of the rack moving speed of the steering gear rack according to the vehicle speed information and the rack position information1The determining module 30 is further configured to obtain a rack moving speed error value according to the target rack moving speed value and the actual rack moving speed value, the control module 40 is connected to the determining module 30, and the control module 40 is configured to obtain the rack moving speed error value according to the rack moving speed error value and the proportionality coefficient K1And obtaining an active aligning moment value, and controlling the steering wheel of the power-assisted steering motor-assisted steering vehicle to steer through the active aligning moment value.
Preferably, the judging module 30 may pre-store table data related to rack position and vehicle speed, after the first detecting module 10 and the second detecting module 20 respectively detect vehicle speed information and rack position information of a steering rack, the target rack moving speed value can be obtained by looking up a table, it should be noted that the determining module 30 may be provided with a first table looking up module and a second table looking up module, after the determining module 30 obtains the vehicle speed information of the vehicle and the rack position information of the steering rack, the vehicle speed information and the rack position information are respectively input into a first table look-up module and a second table look-up module, after the table lookup comparison is completed in the first table lookup module, the first table lookup module can output the target rack moving speed value of the steering gear rack, and after the table look-up comparison is completed in the second table look-up module, the second table look-up module can output the proportionality coefficient K.1After the judgment module 30 receives the target rack moving speed value and the actual rack moving speed value, the real rack moving speed value is subtracted from the target rack moving speed valueAnd obtaining a rack moving speed error value according to the actual rack moving speed value. Also, the control module 40 may be configured as a PID controller, which is a short for a regulator using proportional, integral, and differential control of the deviation, or the control module 40 may be configured as a vehicle controller by inputting a rack movement speed error value and a proportional coefficient K to the PID controller1By multiplying the error value of the rack movement speed by a proportionality coefficient K1The control module 40 can rapidly make a control response to output a suitable active aligning torque value, and then the control module 40 can control the steering wheel of the power-assisted steering motor-assisted vehicle to steer according to the active aligning torque value. Compared with the prior art, the power-assisted steering system 100 of the vehicle can provide proper aligning torque for the steering wheel at different vehicle speeds, so that the steering operation of the steering wheel is smoother in hand feeling, the stability and the accuracy of the active aligning function of the vehicle can be improved, and the driving safety of the vehicle can be improved.
In some embodiments of the present invention, the first detecting module 10 may be a wheel speed sensor, and the second detecting module 20 may be a rack position sensor. The first detection module 10 may be disposed at a wheel rim, and the rotation speed of the wheel may be detected by continuously emitting a light beam to the wheel through the first detection module 10, so as to calculate an actual vehicle speed value of the vehicle, the second detection module 20 may be disposed on the steering gear, and the second detection module 20 may obtain rack position information and an actual rack movement speed value of the steering gear rack by detecting an offset between an actual position and a return position of the steering gear rack.
In some embodiments of the present invention, the vehicle power steering system 100 may further include: the torque sensor 50, the torque sensor 50 is connected to the determination module 30, and the torque sensor 50 may be disposed on a steering wheel of a vehicle. The torque sensor 50 may detect a hand force value of a driver holding the steering wheel, so as to detect the hand force value, and may transmit the hand force value information to the determination module 30, and the vehicle power steering system 100 may adjust the active aligning torque value of the vehicle power steering system 100 according to the hand force value obtained by feedback, so as to improve the aligning accuracy of the vehicle power steering system 100.
In some embodiments of the present invention, the determining module 30 may be further configured to obtain the scaling factor K through a hand force value2It should be noted that a hand force value is correspondingly provided with a proportionality coefficient K2The hand force value and the proportionality coefficient K are pre-determined2The table data of (1) is stored in the judging module 30, and after the hand force value of the driver holding the steering wheel is detected, the scale factor K can be obtained by looking up the table2。
Moreover, the determining module 30 may determine a magnitude relationship between the target rack moving speed value and the actual rack moving speed value. When the target rack moving speed value is greater than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2And obtaining an active aligning moment value, and preventing the steering wheel from aligning through the active aligning moment value. It should be noted that the vehicle power steering system 100 of the present application determines whether the vehicle needs to use the vehicle power steering system 100 according to the error value of the rack moving speed, so that the determination of the complex motion state of the vehicle is reduced, and the stability of the control system is improved. Specifically, the rack moving speed error value x the proportionality coefficient K1X proportional coefficient K2The active aligning torque value is calculated through the PID controller, so that frequent switching of steering working conditions can be reduced, and the steering hand feeling is smooth.
When the target rack moving speed value is smaller than the actual rack moving speed value, an active aligning torque value can be obtained according to the rack moving speed error value, the proportionality coefficient K1 and the proportionality coefficient K2, and the steering wheel is assisted to align through the active aligning torque value. Specifically, the rack moving speed error value multiplied by the proportionality coefficient K1 multiplied by the proportionality coefficient K2 is calculated through the PID controller to obtain an active aligning moment value, so that frequent switching of steering working conditions can be further reduced, and the smooth steering hand feeling is further ensured.
According to the vehicle provided by the embodiment of the utility model, the control method of the vehicle power-assisted steering system 100 and the vehicle power-assisted steering system 100 provided by the embodiment of the utility model can enable the vehicle power-assisted steering system 100 to provide proper aligning torque for the steering wheel at different vehicle speeds, so that the steering operation hand feeling of the steering wheel can be smoother, the stability and the accuracy of the vehicle active aligning function can be further improved, and the driving safety of the vehicle can be also improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A control method of a power steering system (100) for a vehicle, characterized by comprising:
acquiring vehicle speed information of a vehicle and rack position information of a steering gear rack, and obtaining a target rack moving speed value of the steering gear rack and a proportionality coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1；
Acquiring an actual rack moving speed value of the steering gear rack, and obtaining a rack moving speed error value through the target rack moving speed value and the actual rack moving speed value;
according to the rack moving speed error value and the proportionality coefficient K1And obtaining an active aligning moment value, and assisting the steering wheel of the vehicle to steer through the active aligning moment value.
2. The method for controlling a vehicle power steering system (100) according to claim 1, wherein the acquiring an actual rack traveling speed value of the steering rack, and obtaining a rack traveling speed error value from the target rack traveling speed value and the actual rack traveling speed value comprises: and subtracting the actual rack moving speed value from the target rack moving speed value to obtain the rack moving speed error value.
3. The control method of a vehicle power steering system (100) according to claim 1, characterized in that the vehicle speed information includes: an actual vehicle speed value of the vehicle.
4. The control method of a vehicle power steering system (100) according to claim 1, characterized by further comprising: obtaining the hand force value of a driver holding a steering wheel, and obtaining a proportionality coefficient K through the hand force value2When the target rack moving speed value is greater than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2And obtaining the active aligning moment value, and preventing the steering wheel from aligning through the active aligning moment value.
5. The control method of a vehicle power steering system (100) according to claim 1, characterized by further comprising: obtaining the hand force value of a driver holding a steering wheel, and obtaining a proportionality coefficient K through the hand force value2When the target rack moving speed value is smaller than the actual rack moving speed value, the target rack moving speed value is obtained according to the rack moving speed error value and the proportionality coefficient K1And the proportionality coefficient K2And obtaining the active aligning moment value, and assisting the steering wheel to align through the active aligning moment value.
6. A vehicle power steering system (100) of a vehicle, comprising:
the first detection module (10), the first detection module (10) is used for detecting the vehicle speed information of the vehicle, and the vehicle speed information is an actual vehicle speed value;
the second detection module (20), the second detection module (20) is used for detecting rack position information and actual rack movement speed value of the steering gear rack;
the judgment module (30) is connected with the first detection module (10) and the second detection module (20), and the judgment module (30) is used for obtaining a target rack moving speed value of the steering gear rack and a proportionality coefficient K of the rack moving speed according to the vehicle speed information and the rack position information1And is also used for passing the target rack movement speed value and the target rack movement speed valueObtaining a rack moving speed error value according to the actual rack moving speed value;
the control module (40), the control module (40) is connected with the judging module (30), and the control module (40) is used for controlling the rack to move according to the rack moving speed error value and the proportionality coefficient K1And obtaining an active aligning moment value, and controlling a steering power-assisted motor to assist the steering wheel of the vehicle to steer through the active aligning moment value.
7. The vehicle power steering system (100) of a vehicle according to claim 6, wherein the first detection module (10) is a wheel speed sensor and the second detection module (20) is a rack position sensor.
8. The vehicle power steering system (100) of the vehicle according to claim 6, further comprising: the torque sensor (50) is connected with the judging module (30), and the torque sensor (50) is arranged on a steering wheel of the vehicle.
9. Vehicle power steering system (100) of a vehicle according to claim 8, characterized in that the determination module (30) is configured to derive a scaling factor K from the hand force value2And judging the magnitude relation between the target rack moving speed value and the actual rack moving speed value.
10. A vehicle characterized by comprising the control method of the vehicle power steering system (100) according to any one of claims 1 to 5.
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| CN202011072033.9A CN114312980A (en) | 2020-10-09 | 2020-10-09 | Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle |
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| CN202011072033.9A CN114312980A (en) | 2020-10-09 | 2020-10-09 | Control method of vehicle power-assisted steering system, vehicle power-assisted steering system and vehicle |
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| JP2009143490A (en) * | 2007-12-17 | 2009-07-02 | Jtekt Corp | Electric power steering device |
| CN108860294A (en) * | 2018-06-19 | 2018-11-23 | 中国第汽车股份有限公司 | A kind of electric boosting steering system active rotary transform tensor method and its system |
| CN111315637A (en) * | 2017-10-24 | 2020-06-19 | 日本精工株式会社 | Electric power steering apparatus |
| CN111629953A (en) * | 2018-01-09 | 2020-09-04 | 捷太格特欧洲公司 | Use of dynamic saturation function to eliminate undesirable viscous effects when returning steering wheel to its center position |
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2020
- 2020-10-09 CN CN202011072033.9A patent/CN114312980A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009143490A (en) * | 2007-12-17 | 2009-07-02 | Jtekt Corp | Electric power steering device |
| CN111315637A (en) * | 2017-10-24 | 2020-06-19 | 日本精工株式会社 | Electric power steering apparatus |
| CN111629953A (en) * | 2018-01-09 | 2020-09-04 | 捷太格特欧洲公司 | Use of dynamic saturation function to eliminate undesirable viscous effects when returning steering wheel to its center position |
| CN108860294A (en) * | 2018-06-19 | 2018-11-23 | 中国第汽车股份有限公司 | A kind of electric boosting steering system active rotary transform tensor method and its system |
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Application publication date: 20220412 |