CN114919659B - EPS-based method and system for inhibiting wheel shimmy - Google Patents
EPS-based method and system for inhibiting wheel shimmy Download PDFInfo
- Publication number
- CN114919659B CN114919659B CN202210432268.7A CN202210432268A CN114919659B CN 114919659 B CN114919659 B CN 114919659B CN 202210432268 A CN202210432268 A CN 202210432268A CN 114919659 B CN114919659 B CN 114919659B
- Authority
- CN
- China
- Prior art keywords
- wheel
- shimmy
- compensation current
- information
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000002401 inhibitory effect Effects 0.000 title abstract description 10
- 238000001914 filtration Methods 0.000 claims description 11
- 238000012795 verification Methods 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 11
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000004088 simulation Methods 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a method and a system for inhibiting wheel shimmy based on EPS, which are used for acquiring steering system torque information through a torque sensor by utilizing vehicle speed and wheel speed information on a CAN network, and calculating EPS compensation current to counteract the wheel shimmy; the system comprises a torque sensor, a CAN transceiver module, a shimmy frequency calculation module, a calibration module, a filter module and a compensation current calculation module. The invention suppresses the wheel shimmy based on the EPS system, reduces steering wheel shake caused by the wheel shimmy, improves the operability and ensures the running safety of the vehicle; the NVH performance of the vehicle is improved, and possible resonance and noise are prevented; the service life of parts related to wheel shimmy is prolonged; normal vibration and road feel can not be filtered, and vibration caused by the function can not occur; the system has better controllability; for a steer-by-wire system, the method can filter out vibration caused by wheel shimmy, and prevent wrong road feel simulation and power output.
Description
Technical Field
The invention belongs to the technical field of automobiles, relates to a method and a system for inhibiting wheel shimmy, and in particular relates to a method and a system for inhibiting wheel shimmy based on EPS.
Background
The steering wheel of a vehicle vibrates in the steering direction at a certain frequency, called wheel shimmy. The wheel shimmy causes include vibration caused by poor dynamic balance of the wheel, braking shake, shimmy caused by road surface excitation, and the like. The problem of wheel shimmy can lead to steering wheel shake, so that the operability is poor, and even the straight running and running safety of the vehicle are affected; the smoothness of the automobile is reduced, and even the automobile body shakes, so that the comfort is affected; the abrasion of the tire is increased, so that the tire is uneven, and the service life of the tire is reduced; the service life of the hub bearing is reduced, and problems such as abnormal sound and the like are easy to occur; vehicle NVH performance decreases, potentially emitting loud noise; the tire running resistance increases, resulting in an increase in fuel consumption.
The current method for suppressing the wheel shimmy comprises a method for controlling the shimmy of a steering wheel of an automobile (patent number: CN 201010295311.7) for adjusting the caster angle of a kingpin to suppress the shimmy of the wheel, and the like, wherein the method adopts a mechanical structure to suppress the shimmy of the wheel, which generally leads to the increase of cost or the decrease of vehicle performance.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method and a system for inhibiting wheel shimmy based on EPS, wherein the method utilizes vehicle speed and wheel speed information on a CAN network, obtains steering system torque information through a torque sensor, and calculates EPS compensation current to counteract the wheel shimmy.
The invention aims at realizing the following technical scheme:
a method of inhibiting wheel shimmy based on EPS comprising the steps of:
step 1, acquiring torque information of a steering system and vehicle speed/wheel speed information;
step 2, calculating the wheel shimmy theoretical vibration frequency according to the acquired vehicle speed/wheel speed information;
step 3, checking the wheel shimmy theoretical vibration frequency calculated in the step 2 by using the torque information of the steering system to obtain a shimmy frequency checking section;
step 4, calculating compensation current gain under corresponding torque and vehicle speed/wheel speed according to the calibration value;
and 5, calculating the compensation current output by the system according to the shimmy frequency check interval obtained in the step 3, the steering system torque information and the compensation current gain calculated in the step 4.
Further, the step 1 specifically includes:
the speed information of the vehicle and the wheel speed information of the steering wheel are obtained through the CAN bus, and the torque information of the steering system is obtained through the torque sensor.
Further, the step 2 specifically includes:
calculating the wheel shimmy theoretical vibration frequency according to the vehicle speed information obtained in the step 1 and the wheel speed information of the steering wheel, wherein the vibration frequency is calculated by the following formula:
wherein,
f-wheel shimmy theoretical vibration frequency, unit: hz;
v-vehicle speed or wheel speed information, unit: km/h;
r-theoretical rolling radius of wheel, unit: m;
and substituting the vehicle speed and the wheel speed of the steering wheel into the above modes respectively, and calculating the corresponding wheel shimmy theoretical vibration frequency respectively.
Further, the step 3 specifically includes:
checking the wheel shimmy theoretical vibration frequency calculated in the step 2 according to the steering moment information, and outputting a shimmy frequency checking interval if the two checking results are matched; if the two verification results are not matched, the output compensation current is set to be 0.
Further, the step 4 specifically includes:
before the system operates, a compensation current gain MAP which changes along with the torque, the vehicle speed or the wheel speed is preset, and when the system operates, the compensation current gain MAP is calculated according to the compensation current gain MAP under the corresponding torque and the vehicle speed or the wheel speed.
Further, the step 5 specifically includes:
carrying out band-pass filtering treatment on the torque information of the steering system according to the shimmy frequency check interval obtained in the step 3;
and (3) calculating the compensation current according to the filtering processing signal obtained in the step 5.1, the compensation current gain under the corresponding torque obtained in the step 4 and the compensation current gain under the corresponding vehicle speed or the wheel speed.
A system for inhibiting wheel shimmy based on EPS comprising the following modules:
the device comprises a torque sensor, a CAN transceiver module, a shimmy frequency calculation module, a calibration module, a filter module and a compensation current calculation module;
the torque sensor acquires torque information of a steering system;
the CAN transceiver module acquires vehicle speed or wheel speed information from a vehicle-mounted CAN network;
the shimmy frequency calculation module calculates theoretical wheel shimmy frequency according to the vehicle speed or wheel speed information acquired by the CAN transceiver module, and obtains a wheel shimmy frequency verification interval through the verification of the steering system torque information acquired by the torque sensor;
the calibration module calculates compensation current gain according to the speed or wheel speed information and the steering system torque information;
the filter module carries out band-pass filtering according to the torque information of the steering system and the shimmy frequency calculation module;
and the compensation current module calculates the output compensation current according to the compensation current gain calculated by the calibration module and the band-pass filtering output of the filter module.
The invention has the following beneficial effects:
the invention suppresses the wheel shimmy based on the EPS system, reduces steering wheel shake caused by the wheel shimmy, improves the operability and ensures the running safety of the vehicle; the NVH performance of the vehicle is improved, and possible resonance and noise are prevented; the service life of parts related to wheel shimmy is prolonged; because the design is only aimed at the wheel shimmy, normal vibration and road feel can not be filtered, and vibration caused by the function can not occur; the system has better controllability due to the calibration calculation link; for a steer-by-wire (SBW) system, the method can filter out vibrations caused by wheel shimmy, preventing erroneous road feel simulation and power assist output.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings to be used in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.
FIG. 1 is a flow chart of a method for inhibiting wheel shimmy based on EPS of embodiment 1 of the invention;
FIG. 2 is a schematic block diagram of an EPS-based wheel shimmy suppression system according to embodiment 2 of the present invention;
fig. 3 is a steering system torque information image before processing in embodiment 1;
fig. 4 is a compensation current gain MAP corresponding to the vehicle speed in embodiment 1;
FIG. 5 is the compensation current gain MAP corresponding to the moment in example 1;
FIG. 6 is a schematic diagram of the compensation current output in example 1;
fig. 7 is a steering system torque information image after processing in embodiment 1.
Detailed Description
For the purpose of making the objects and technical solutions of the embodiments of the present disclosure clearer, the solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure, and it is apparent that the described embodiments are merely for supplementary explanation of the present invention and are not limiting of the present invention.
Example 1:
as shown in fig. 1, a method and a system for inhibiting wheel shimmy based on EPS include the following steps:
step 1, acquiring torque information of a steering system and vehicle speed/wheel speed information;
step 2, calculating the theoretical vibration frequency of wheel shimmy according to the acquired vehicle speed/wheel speed information;
step 3, checking the wheel shimmy theoretical vibration frequency calculated in the step 2 by using the torque information of the steering system to obtain a shimmy frequency checking section;
step 4, calculating a compensation current gain under corresponding torque and vehicle speed or wheel speed according to the calibration value;
and step 5, calculating the compensation current output by the system according to the shimmy frequency check interval obtained in the step 3, the steering system torque information and the compensation current gain obtained in the step 4.
Further, the step 1 specifically includes:
the speed information of the vehicle and the wheel speed information of the steering wheel are obtained through the CAN bus, and the torque information of the steering system is obtained through the torque sensor.
In the embodiment, the obtained vehicle speed is constant at 96km/h, the wheel speed of a certain steering wheel is constant at 98km/h, and the torque information of the steering system is shown in the figure 3;
further, the step 2 specifically includes:
calculating the wheel shimmy theoretical vibration frequency according to the vehicle speed information obtained in the step 1 and the wheel speed information of the steering wheel, wherein the vibration frequency is calculated by the following formula:
wherein,
f-the theoretical vibration frequency of wheel shimmy (unit: hz);
v-vehicle speed or wheel speed information (unit: km/h);
r-theoretical rolling radius of wheel (unit: m);
further, the vehicle speed and the wheel speed of the steering wheel are respectively substituted into the speed and the wheel speed, and the corresponding wheel shimmy theoretical vibration frequency is calculated.
In the embodiment, the theoretical rolling radius of the wheel is 0.32m, and the calculated wheel shimmy frequency corresponding to the vehicle speed and the wheel shimmy frequency corresponding to the wheel speed of a certain steering wheel are 13.2629Hz and 13.5392Hz respectively;
further, the step 3 specifically includes:
and (3) checking the wheel shimmy theoretical vibration frequency calculated in the step (2) according to the steering moment information to obtain a shimmy frequency checking section.
In this embodiment, the steering torque time domain information is converted into frequency domain information, and the verification condition is: the frequency domain information contains signals (12.87 Hz-13.95 Hz in the embodiment) with the amplitude above 0.04 and the difference of not more than 3% from the theoretical vibration frequency of wheel shimmy, and if the verification condition is not met, the output of the compensation current is set to be 0; and if the calibration conditions are met, outputting a calibration interval of the steering moment shimmy frequency. As proved by verification, the vibration frequency is 13.5Hz, and the amplitude is 0.127Nm, so that the verification interval of the output shimmy frequency is 12.87 Hz-13.95 Hz.
Further, the step 4 specifically includes:
before the system is operated, a compensation current gain MAP which varies with the torque, the vehicle speed or the wheel speed is preset, in this embodiment, the compensation current gain MAP which is set corresponding to the torque and the vehicle speed is shown in fig. 4 and fig. 5, when the system is operated, the compensation current gain under the corresponding torque and the vehicle speed or the wheel speed is calculated according to the compensation current gain MAP, and in this embodiment, the compensation current gains of the corresponding torque and the vehicle speed are respectively 0.5 and 1.5.
Further, the step 5 specifically includes:
step 5.1: and (3) carrying out band-pass filtering processing on the torque information of the steering system according to the shimmy frequency check interval obtained in the step (3), wherein in the embodiment, the band-pass filtering is realized through a module with the following transfer function:
wherein,
w 0 -a low pass filter cut-off frequency, in the example 13.95Hz;
w 1 -a high pass filter cut-off frequency, in the example 12.87Hz;
step 5.2: the compensation current is calculated according to the filtering signal obtained in step 5.2, the compensation current gain under the corresponding torque obtained in step 4, and the compensation current gain under the corresponding vehicle speed or wheel speed, and in this embodiment, the calculated compensation current is shown in fig. 6.
The steering system torque information image processed by the above procedure is shown in fig. 7, and it can be seen that the periodic vibration portion caused by wheel shimmy is effectively suppressed, while the non-periodic vibration portion caused by road surface excitation remains.
Example 2:
as shown in fig. 2, a system for suppressing wheel shimmy based on EPS includes the following modules:
the device comprises a torque sensor, a CAN transceiver module, a shimmy frequency calculation module, a calibration module, a filter module and a compensation current calculation module;
the torque sensor acquires torque information of a steering system;
the CAN transceiver module acquires vehicle speed or wheel speed information from a vehicle-mounted CAN network;
the shimmy frequency calculation module calculates theoretical wheel shimmy frequency according to the vehicle speed or wheel speed information acquired by the CAN transceiver module, and obtains a wheel shimmy frequency verification interval through the verification of the steering system torque information acquired by the torque sensor;
the calibration module calculates compensation current gain according to the speed or wheel speed information and the steering system torque information;
the filter module carries out band-pass filtering according to the torque information of the steering system and the shimmy frequency calculation module;
and the compensation current module calculates the output compensation current according to the compensation current gain calculated by the calibration module and the band-pass filtering output of the filter module.
Claims (1)
1. A method of suppressing wheel shimmy based on EPS comprising the steps of:
step 1, acquiring torque information of a steering system and vehicle speed and wheel speed information; the step 1 specifically includes:
acquiring speed information of a vehicle and wheel speed information of a steering wheel through a CAN bus, and acquiring torque information of a steering system through a torque sensor;
step 2, calculating the wheel shimmy theoretical vibration frequency according to the acquired vehicle speed and wheel speed information; the step 2 specifically includes:
calculating the wheel shimmy theoretical vibration frequency according to the vehicle speed information obtained in the step 1 and the wheel speed information of the steering wheel, wherein the vibration frequency is calculated by the following formula:
wherein,
f-wheel shimmy theoretical vibration frequency, unit: hz;
v-vehicle speed or wheel speed information, unit: km/h;
r-theoretical rolling radius of wheel, unit: m;
substituting the speed of the vehicle and the wheel speed of the steering wheel into the above modes respectively, and calculating the corresponding wheel shimmy theoretical vibration frequency respectively;
step 3, checking the wheel shimmy theoretical vibration frequency calculated in the step 2 by using the torque information of the steering system to obtain a shimmy frequency checking section; the step 3 specifically includes:
converting steering moment time domain information into frequency domain information, and checking the following conditions: the frequency domain information contains signals with the amplitude above 0.04 and the difference of not more than 3% from the theoretical vibration frequency of wheel shimmy, and if the signals do not accord with the verification condition, the output of the compensation current is set to 0; if the calibration conditions are met, outputting a steering moment shimmy frequency calibration interval;
step 4, calculating compensation current gain under corresponding torque, vehicle speed and wheel speed according to the calibration value; the step 4 specifically includes:
before the system operates, a compensation current gain MAP which changes along with the torque, the vehicle speed or the wheel speed is preset, and when the system operates, the compensation current gain MAP is calculated according to the compensation current gain MAP under the corresponding torque and the vehicle speed or the wheel speed;
step 5, calculating the compensation current output by the system according to the shimmy frequency check interval obtained in the step 3, the steering system torque information and the compensation current gain calculated in the step 4; the step 5 specifically includes:
step 5.1: carrying out band-pass filtering treatment on the torque information of the steering system according to the shimmy frequency check interval obtained in the step 3;
step 5.2: and (3) calculating the compensation current according to the filtering processing signal obtained in the step 5.1, the compensation current gain under the corresponding torque and the compensation current gain under the corresponding vehicle speed or the wheel speed obtained in the step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432268.7A CN114919659B (en) | 2022-04-22 | 2022-04-22 | EPS-based method and system for inhibiting wheel shimmy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210432268.7A CN114919659B (en) | 2022-04-22 | 2022-04-22 | EPS-based method and system for inhibiting wheel shimmy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114919659A CN114919659A (en) | 2022-08-19 |
| CN114919659B true CN114919659B (en) | 2023-11-21 |
Family
ID=82806848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210432268.7A Active CN114919659B (en) | 2022-04-22 | 2022-04-22 | EPS-based method and system for inhibiting wheel shimmy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114919659B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004114910A (en) * | 2002-09-27 | 2004-04-15 | Mitsubishi Electric Corp | Electric power steering system |
| KR20040046726A (en) * | 2002-11-28 | 2004-06-05 | 현대자동차주식회사 | apparatus for steering wheel of vehicle |
| CN103003133A (en) * | 2010-07-12 | 2013-03-27 | Zf操作系统有限公司 | Method and device for the compensation of steering wheel rotary oscillations in a steering system |
| CN104608820A (en) * | 2015-02-02 | 2015-05-13 | 合肥工业大学 | Method for calibrating the optimal damping operating characteristic of motor steering damper |
| JP2015178286A (en) * | 2014-03-18 | 2015-10-08 | 株式会社ショーワ | Electric power steering device and program |
| JP2016068676A (en) * | 2014-09-29 | 2016-05-09 | 株式会社ショーワ | Electric power steering device |
| EP3072784A1 (en) * | 2015-03-24 | 2016-09-28 | Showa Corporation | Motor-driven power steering apparatus |
| CN106414220A (en) * | 2014-02-04 | 2017-02-15 | Ｋｙｂ株式会社 | Electric power steering device |
| CN106585709A (en) * | 2016-12-21 | 2017-04-26 | 南京航空航天大学 | Automotive chassis integrated system and optimizing method thereof |
| CN108151681A (en) * | 2017-11-23 | 2018-06-12 | 中国第汽车股份有限公司 | A kind of vehicle-mounted road surface unevenness identifying system and method based on binocular camera |
| CN113184050A (en) * | 2021-05-31 | 2021-07-30 | 重庆长安汽车股份有限公司 | Compensation method and compensation system for shimmy of vehicle steering wheel |
| CN113428219A (en) * | 2021-07-31 | 2021-09-24 | 重庆长安汽车股份有限公司 | System and method for controlling automobile safety based on transfer function quick response |
| CN114013500A (en) * | 2021-11-24 | 2022-02-08 | 一汽奔腾轿车有限公司 | Control method for inhibiting automobile deviation based on electric steering |
-
2022
- 2022-04-22 CN CN202210432268.7A patent/CN114919659B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004114910A (en) * | 2002-09-27 | 2004-04-15 | Mitsubishi Electric Corp | Electric power steering system |
| KR20040046726A (en) * | 2002-11-28 | 2004-06-05 | 현대자동차주식회사 | apparatus for steering wheel of vehicle |
| CN103003133A (en) * | 2010-07-12 | 2013-03-27 | Zf操作系统有限公司 | Method and device for the compensation of steering wheel rotary oscillations in a steering system |
| CN106414220A (en) * | 2014-02-04 | 2017-02-15 | Ｋｙｂ株式会社 | Electric power steering device |
| JP2015178286A (en) * | 2014-03-18 | 2015-10-08 | 株式会社ショーワ | Electric power steering device and program |
| JP2016068676A (en) * | 2014-09-29 | 2016-05-09 | 株式会社ショーワ | Electric power steering device |
| CN104608820A (en) * | 2015-02-02 | 2015-05-13 | 合肥工业大学 | Method for calibrating the optimal damping operating characteristic of motor steering damper |
| EP3072784A1 (en) * | 2015-03-24 | 2016-09-28 | Showa Corporation | Motor-driven power steering apparatus |
| CN106004990A (en) * | 2015-03-24 | 2016-10-12 | 株式会社昭和 | Motor-driven power steering apparatus |
| CN106585709A (en) * | 2016-12-21 | 2017-04-26 | 南京航空航天大学 | Automotive chassis integrated system and optimizing method thereof |
| CN108151681A (en) * | 2017-11-23 | 2018-06-12 | 中国第汽车股份有限公司 | A kind of vehicle-mounted road surface unevenness identifying system and method based on binocular camera |
| CN113184050A (en) * | 2021-05-31 | 2021-07-30 | 重庆长安汽车股份有限公司 | Compensation method and compensation system for shimmy of vehicle steering wheel |
| CN113428219A (en) * | 2021-07-31 | 2021-09-24 | 重庆长安汽车股份有限公司 | System and method for controlling automobile safety based on transfer function quick response |
| CN114013500A (en) * | 2021-11-24 | 2022-02-08 | 一汽奔腾轿车有限公司 | Control method for inhibiting automobile deviation based on electric steering |
Non-Patent Citations (2)
| Title |
|---|
| 方向盘摆振问题的Benchmark及CAE分析解决方法;赵永坡;汽车实用技术(第09期);第240-244页 * |
| 补偿转向盘振动力矩的控制策略研究;孙运全;李亚杰;张蕴昕;;计算机测量与控制(04);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114919659A (en) | 2022-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4468415B2 (en) | Electric power steering control device | |
| US20030191572A1 (en) | Method for the online determination of values of the dynamics of vehicle movement of a motor vehicle | |
| US9457837B2 (en) | Steering device, steering control device, and steering control method | |
| WO2018173306A1 (en) | Vehicle control device, and vehicle | |
| US9266558B2 (en) | Methods, systems and apparatus for steering wheel vibration reduction in electric power steering systems | |
| US20150094912A1 (en) | System and Method for Wheel Disturbance Order Detection and Correction | |
| CN110312624B (en) | Road surface determination device, suspension control device, and suspension device | |
| US20160272211A1 (en) | Vibration control device and vibration control system | |
| US10160283B2 (en) | Electromagnetic damper system | |
| KR20130016367A (en) | Method for operating a motor vehicle and motor vehicle | |
| WO2013061983A1 (en) | Suspension control device and suspension control method | |
| US11203243B2 (en) | Control system for variable damping force damper | |
| US8924038B2 (en) | Method for determining a torque set value for a steering wheel for a power steering system of a motor vehicle | |
| CN112896295A (en) | Disturbance compensation steering control method and motor-driven power steering system thereof | |
| WO2019130600A1 (en) | Vehicle control device and vehicle | |
| CN114919659B (en) | EPS-based method and system for inhibiting wheel shimmy | |
| CN110843550B (en) | Method for eliminating low-speed jitter of electric automobile | |
| JP4622557B2 (en) | Filter processing device for vehicle behavior sensor signal, and vehicle motion control device including the filter processing device | |
| KR101490899B1 (en) | Apparatus for reducing torque-steer of vehicle and method thereof | |
| KR102611630B1 (en) | Apparatus for reducing vibration of motor driven power steering and method thereof | |
| JP2017206161A (en) | Vehicular damping force control apparatus | |
| JP2021510647A (en) | Power steering trajectory deviation correction method during braking | |
| CN114206706B (en) | Control device, driving device, electric power steering device, and control method | |
| US20030121737A1 (en) | Apparatus for controlling dampers used in a vehicle | |
| JP4814905B2 (en) | Vehicle steering control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |