CN115214764A - Steering control method, device and readable storage medium - Google Patents
Steering control method, device and readable storage medium Download PDFInfo
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- CN115214764A CN115214764A CN202111567603.6A CN202111567603A CN115214764A CN 115214764 A CN115214764 A CN 115214764A CN 202111567603 A CN202111567603 A CN 202111567603A CN 115214764 A CN115214764 A CN 115214764A
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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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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- 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
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides a steering control method, a device and a readable storage medium, wherein the steering control method comprises the following steps: splitting a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band; performing basic power-assisted processing on the basic frequency band to acquire a basic power-assisted signal, and performing first frequency band suppression on the first resonant frequency band to acquire a first filtering signal; performing second frequency band suppression on the second resonant frequency band to obtain a second filtering signal; and generating a power-assisted motor instruction signal according to the basic power-assisted signal, the first filtering signal and the second filtering signal. The moment fluctuation caused by the formants generated by the closed loop of the control circuit of the electric power steering system can be accurately inhibited, the steering power is controlled more pertinently through the multidimensional adjustment and calibration freedom, the manpower and material resource investment in the adjustment and calibration process of the electric power steering system is greatly reduced, and the driving hand feeling is effectively improved.
Description
Technical Field
The present application relates to the field of visible light communications, and in particular, to a steering control method, apparatus, device, and readable storage medium.
Background
An Electric Power Steering System (hereinafter, abbreviated as an EPS System) is an on-demand System in which a motor operates when Steering is required. The key technology of the EPS system is the design of a control strategy which takes road sensing tracking as core content. The key of the road feel tracking technology is that the voltage of the motor is controlled to enable the power-assisted torque actually generated by the motor to track a power-assisted curve designed by power assistance matching so as to control the power-assisted motor to operate.
The closed loop system has two resonance points which are respectively distributed at about 5-7Hz and about 10-15 Hz. In such an electric power steering apparatus, resonance systems are formed due to the composition relationship between the mechanical structural components, and torque fluctuations are generated due to these resonance systems, which adversely affect the feel of the driver.
Disclosure of Invention
The application provides a steering control method, a steering control device and a readable storage medium, which are used for relieving the torque fluctuation problem caused by resonance of an electric power steering system and improving the driving hand feeling.
In one aspect, the present application first provides a steering control method including:
splitting a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band;
performing basic power-assisted processing on the basic frequency band to acquire a basic power-assisted signal, and performing first frequency band suppression on the first resonant frequency band to acquire a first filtering signal; performing second frequency band suppression on the second resonant frequency band to obtain a second filtering signal;
and generating a power-assisted motor instruction signal according to the basic power-assisted signal, the first filtering signal and the second filtering signal.
Optionally, the base frequency band comprises a 0-5Hz frequency band; and/or the first resonant frequency band comprises a 5-7Hz frequency band, and/or the second frequency band comprises a 13Hz-15Hz frequency band.
Optionally, the step of splitting the torque sensor signal into a base frequency band, a first resonant frequency band and a second resonant frequency band comprises:
performing a first low pass filtering on the torque sensor signal to obtain the fundamental frequency band;
performing a first band pass filtering on the torque sensor signal to obtain a first resonant frequency band; and/or, superposing the basic frequency band phase reversal and the torque sensor signal to obtain a basic outer frequency band, and performing second low-pass filtering on the basic outer frequency band to obtain the first resonance frequency band;
performing first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain the second resonant frequency band; and/or, the first resonant frequency band is inverted and superposed with a basic external frequency band to obtain the second resonant frequency band.
Alternatively, when the cutoff frequency is set to fc, the first low-pass filtering or the second low-pass filtering is performed according to the following equation:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × fc, s is a laplace operator.
Optionally, the first band suppression or the second band suppression is performed according to the following formula:
wherein Q is f For the purpose of suppressing the transfer function for the frequency band,
is the molecular damping ratio, omega n For the undamped oscillation frequency of the molecule, p1, p2 and p3 are respectively the suppression frequency poles (which can be from small to large), and s is the laplacian operator.
Optionally, the step of performing first band rejection on the first resonant band to obtain a first filtered signal, and/or the step of performing second band rejection on the second resonant band to obtain a second filtered signal includes:
and presetting and associating the suppression frequency pole signal of the first resonance frequency band and/or the second resonance frequency band with a vehicle speed signal and/or a steering wheel rotating speed signal.
In another aspect, the present application further provides a steering control apparatus including: a frequency band splitting unit, a basic power-assisted unit, a first frequency band restraining unit, a second frequency band restraining unit and a power-assisted motor control unit,
the frequency band splitting unit is configured to split a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band, and is connected with the basic power unit, the first frequency band suppression unit and the second frequency band suppression unit respectively;
the basic power unit is configured to perform basic power processing on the basic frequency band to obtain a basic power signal, the first frequency band suppression unit is configured to perform first frequency band suppression on the first resonant frequency band to obtain a first filtered signal, and the second frequency band suppression unit is configured to perform second frequency band suppression on the second resonant frequency band to obtain a second filtered signal;
and the power-assisted motor control unit is respectively connected with the basic power-assisted unit, the first frequency band suppression unit and the second frequency band suppression unit and is configured to generate a power-assisted motor command signal according to the basic power-assisted signal, the first filtering signal and the second filtering signal.
Optionally, the frequency band splitting unit includes a first low-pass filter, a second low-pass filter, a first signal processor, and a second signal processor;
a first low pass filter coupled to the first signal processor and configured to first low pass filter the torque sensor signal to obtain the fundamental frequency band;
the first signal processor is respectively connected with the second low-pass filter and the second signal processor and is configured to superpose the basic frequency band inversion and the torque sensor signal to obtain a basic outer frequency band;
the second low-pass filter is configured to perform a second low-pass filtering on the basic outer band to obtain the first resonant band;
the second signal processor is configured to invert the first resonant frequency band and superimpose a base outer frequency band to obtain the second filtered signal.
Optionally, when the cutoff frequency is set to fc, setting the first low-pass filter or the second low-pass filter according to the following formula:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × Π fc, s is a laplace operator.
Optionally, the first band suppression or the second band suppression is performed according to the following formula:
wherein Q is f For the purpose of suppressing the transfer function for the frequency band,
is the molecular damping ratio, omega n For the undamped oscillation frequency of the molecule, p1, p2 and p3 are respectively the suppression frequency poles (which can be from small to large), and s is the laplacian operator.
Optionally, the frequency band splitting unit includes a first low-pass filter and a first band-pass filter, and the frequency band splitting unit further includes a first high-pass filter or a second band-pass filter;
the first low pass filter is configured to first low pass filter the torque sensor signal to obtain the fundamental frequency band;
the first band pass filter is configured to first band pass filter the torque sensor signal to obtain a first resonant frequency band;
the first high pass filter is configured to first high pass filter the torque sensor signal or the second band pass filter is configured to second band pass filter the torque sensor signal to obtain the second resonant frequency band.
Optionally, the first band suppression unit and/or the second band suppression unit are/is formed by a notch filter.
Optionally, the notch filter is provided with a first input terminal, a second input terminal, a third input terminal and an output terminal; the first input end configured to input a frequency band signal to be processed is connected to the frequency band splitting unit, and the frequency band signal to be processed includes the first resonant frequency band and/or the second resonant frequency band; the second input end is configured to input a vehicle speed signal and/or the third input end is configured to input a steering wheel rotating speed signal, and the notch filter is configured to output a notch filtering signal through the output end after preset association is carried out on a suppression frequency pole signal of the frequency band signal to be processed and the vehicle speed signal and/or the steering wheel rotating speed signal.
Optionally, the notch filter includes a first pole association module, a second pole association module, and a frequency band association module;
a first suppression frequency pole signal is input to a pole input end of the first pole correlation module, a second suppression frequency pole signal is input to a pole input end of the first pole correlation module, and the frequency band signal to be processed is input to a first input end of the frequency band correlation module;
the vehicle speed signal is input into a vehicle speed input end of the first pole correlation module and a vehicle speed input end of the second pole correlation module, and/or the steering wheel rotating speed signal is input into a rotating speed input end of the first pole correlation module and a rotating speed input end of the second pole correlation module;
the output end of the first pole correlation module outputs a first pole correlation signal to the second input end of the frequency band correlation module; the output end of the second pole associating module outputs a second pole associating signal to a third input end of the frequency band associating module;
and the output end of the frequency band correlation module outputs the notch filtering signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal and the second pole correlation signal.
Optionally, the notch filter further comprises a third pole association module;
a third inhibition frequency band pole signal is input to a pole input end of the third pole correlation module;
the speed signal is input into a speed input end of the third pole association module, and/or the steering wheel speed signal is input into a speed input end of the third pole association module;
the output end of the third pole association module outputs a third pole association signal to the fourth input end of the frequency band association module;
and the output end of the frequency band correlation module outputs the notch filtering signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal, the second pole correlation signal and the third pole correlation signal.
In another aspect, the present application further provides a steering control device comprising a processor and a memory;
the memory stores one or more computer programs;
the one or more computer programs stored by the memory, when executed by the processor, enable the steering control device to perform the methods as described above.
Optionally, the processor calls the computer program according to a preset time length to periodically execute the computer program.
In another aspect, the present application further provides a readable storage medium, in particular, a readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method as described above.
As described above, the steering control method, the steering control device and the readable storage medium provided by the application can accurately suppress torque fluctuation caused by a formant generated by a closed loop of a control circuit of the electric power steering system, control the steering power more specifically through multi-dimensional adjustment freedom, greatly reduce manpower and material resources input in the adjustment process of the electric power steering system, and effectively improve the driving hand feeling.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a flowchart of a steering control method according to an embodiment of the present application.
Fig. 2 is a flow chart illustrating a torque sensor signal splitting according to an embodiment of the present application.
Fig. 3 is a block diagram of a steering control device according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a band splitting unit according to an embodiment of the present application.
Fig. 5 is a simulated bode plot of a band-reject transfer function according to an embodiment of the present application.
FIG. 6 is a diagram illustrating the connection relationship of a notch filter according to an embodiment of the present application.
Fig. 7 is a flowchart illustrating the operation of the steering control device according to an embodiment of the present application.
The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings. With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, in this document, 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 a … …" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element, and further, components, features, elements, and/or steps that may be similarly named in various embodiments of the application may or may not have the same meaning, unless otherwise specified by its interpretation in the embodiment or by context with further embodiments.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if," as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination," depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.
The electronic device of the user terminal may be implemented in various forms. For example, the user terminal described in the present application may include mobile terminals such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, a smart band, a pedometer, and the like, and fixed terminals such as a Digital TV, a desktop computer, and the like.
The following description will be given taking a mobile terminal as an example, and it will be understood by those skilled in the art that the configuration according to the embodiment of the present application can be applied to a fixed type terminal in addition to elements particularly used for mobile purposes.
First embodiment
In one aspect, the present application provides a steering control method, and fig. 1 is a flowchart of the steering control method according to an embodiment of the present application.
As shown in fig. 1, in one embodiment, a steering control method includes:
s10: the torque sensor signal is split into a base frequency band, a first resonant frequency band and a second resonant frequency band.
In order to specifically and accurately suppress each resonance pole and simultaneously avoid suppression interference on other irrelevant frequency bands, the frequency band of a torque sensor signal can be split firstly.
Optionally, the base frequency band comprises a 0-5Hz frequency band; and/or the first resonant frequency band comprises a 5-7Hz frequency band and/or the second frequency band comprises a 13Hz-15Hz frequency band.
In general, a steering control system having a column type steering mechanism and a torque sensor mounted inside a column has a frequency of steering wheel manipulation and a useful road feel information feedback frequency band of 0 to 5Hz. Through transfer function mode dynamics analysis, a first resonance peak of a steering system exists in a frequency band of 5Hz-7Hz, and a second resonance peak exists above 13 Hz. It will be appreciated that the frequency of disturbances on rough roads may also convey unwanted disturbance information to the controller. In other embodiments, different other resonant peaks may exist due to other factors as well.
Fig. 2 is a flow chart illustrating a torque sensor signal splitting according to an embodiment of the present application.
Referring to fig. 2, optionally, S10: the step of splitting the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band comprises:
s11: the torque sensor signal is first low pass filtered to obtain a fundamental frequency band.
S12: performing first band-pass filtering on a torque sensor signal to obtain a first resonant frequency band; and/or superposing the basic frequency band phase reversal and the torque sensor signal to obtain a basic outer frequency band, and performing second low-pass filtering on the basic outer frequency band to obtain a first resonance frequency band.
S13: performing first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain a second resonance frequency band; and/or, the first resonance frequency band is inverted and superposed with the basic outer frequency band to obtain a second resonance frequency band.
Through different characteristics of the low-pass filter, the band-pass filter and the high-pass filter, a section of complete spectrum signals can be split into different target frequency bands according to requirements. In other embodiments, other conventional methods may be used.
Alternatively, when the cutoff frequency is set to fc, the first low-pass filtering or the second low-pass filtering may be performed according to the following equation:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × fc, s is a laplace operator.
By means of second-order low-pass filtering, the use of a notch filter can be reduced in the low-frequency main control loop, and meanwhile, the second-order low-pass filter can ensure that signals with cut-off frequency are filtered cleanly.
S20: performing basic power-assisted processing on a basic frequency band to acquire a basic power-assisted signal, and performing first frequency band suppression on a first resonance frequency band to acquire a first filtering signal; second band rejection is performed on the second resonant band to obtain a second filtered signal.
For the basic frequency band, basic boosting processing can be performed in a conventional manner. And performing targeted suppression processing on the frequency band where the split resonance peak value is located.
Alternatively, the first band suppression or the second band suppression may be performed according to the following formula:
wherein Qf is a band rejection transfer function,
is the molecular damping ratio, omega n For the undamped oscillation frequency of the molecule, p1, p2 and p3 are respectively the suppression frequency poles (which can be from small to large), and s is the laplacian operator.
Simulations of the rejection transfer function show that at the frequency at which the resonance peak is located, a trough appears in the gain amplitude, showing that the frequency at this point is specifically rejected.
Alternatively, S20: the step of performing first band rejection on the first resonant band to obtain the first filtered signal, and/or the step of performing second band rejection on the second resonant band to obtain the second filtered signal may be preceded by:
and performing preset association on the suppression frequency pole signals of the first resonance frequency band and/or the second resonance frequency band and the vehicle speed signals and/or the steering wheel rotating speed signals.
The introduction of the variable of the rotating speed and the vehicle speed of the steering wheel can avoid the moment fluctuation of the same set of wave trap parameters under different vehicle speeds or different rotating speeds of the steering wheel, so that the effect of the steering moment control under different working conditions is better. In one embodiment, three frequency suppression poles p1, p2 and p3 can be respectively associated with the vehicle speed and the steering wheel rotating speed, and the associated parameter table can be obtained through real vehicle calibration.
S30: and generating a power-assisted motor instruction signal according to the basic power-assisted signal, the first filtering signal and the second filtering signal.
The basic power-assisted signal, the first filtering signal and the second filtering signal respectively represent signal sources of three frequency bands in the torque sensor signal. Through multi-dimensional adjustment and calibration freedom, the basic power-assisted signal, the first filtering signal and the second filtering signal are superposed, and a power-assisted motor instruction signal is output to drive the steering motor to perform steering power assistance, so that torque fluctuation caused by a formant generated by a closed loop of a control circuit of the electric power-assisted steering system can be accurately inhibited, and the steering power assistance is controlled more specifically to improve the driving hand feeling.
Second embodiment
On the other hand, the present application further provides a steering control device, and fig. 3 is a block diagram of the steering control device according to an embodiment of the present application.
Referring to fig. 3, in an embodiment, the steering control device includes: the power assisting device comprises a frequency band splitting unit 1, a basic power assisting unit 2, a first frequency band restraining unit 3, a second frequency band restraining unit 4 and a power assisting motor control unit 5.
The frequency band splitting unit 1 is configured to split a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band, and is connected to the basic booster unit 2, the first frequency band suppression unit 3 and the second frequency band suppression unit 4, respectively.
The basic booster unit 2 is configured to perform basic booster processing on the basic frequency band to obtain a basic booster signal. The first band suppression unit 3 is configured to perform a first band suppression on the first resonant band to obtain a first filtered signal. The second band rejection unit 4 is configured to perform a second band rejection on the second resonant frequency band to obtain a second filtered signal.
The assist motor control unit 5, which is connected to the basic assist unit 2, the first band suppression unit 3, and the second band suppression unit 4, respectively, is configured to generate an assist motor instruction signal based on the basic assist signal, the first filtered signal, and the second filtered signal.
In order to specifically and accurately suppress each resonance pole and simultaneously avoid suppression interference on other irrelevant frequency bands, the frequency band of a torque sensor signal can be split firstly. For the basic frequency band, basic boosting processing can be performed in a conventional manner. And performing targeted suppression processing on the frequency band where the split resonance peak value is located. Through multidimensional adjustment and calibration freedom, the basic power-assisted signal, the first filtering signal and the second filtering signal are superposed, and a power-assisted motor command signal is output to drive the steering motor to perform steering power assistance, so that torque fluctuation caused by a formant generated by a closed loop of a control circuit of the electric power-assisted steering system can be accurately inhibited, and the steering power assistance is controlled more specifically to improve the driving hand feeling.
With continued reference to fig. 3, in another embodiment, the steering control device may further include a first high-frequency gain unit 6 connected before the first band suppression unit 3 and a second high-frequency gain unit 7 connected before the second band suppression unit 4.
Fig. 4 is a schematic diagram of a band splitting unit according to an embodiment of the present application.
Referring to fig. 4, optionally, the band splitting unit includes a first low pass filter 11, a second low pass filter 12, a first signal processor 13, and a second signal processor 14.
A first low pass filter 11 connected to the first signal processor 13 is configured to perform a first low pass filtering on the torque sensor signal to obtain a fundamental frequency band.
A first signal processor 13, connected to the second low pass filter 12 and the second signal processor 14, respectively, is configured to superimpose the fundamental frequency band inversion and the torque sensor signal to obtain a fundamental external frequency.
The second low pass filter 12 is configured to perform a second low pass filtering on the basic outer band to obtain a first resonance band, and the second signal processor 14 is configured to invert the first resonance band and superimpose the basic outer band on the first resonance band to obtain a second resonance band.
A low-pass filter is an electronic filtering device that allows signals below a cutoff frequency to pass, but does not allow signals above the cutoff frequency to pass. The low pass filter can effectively filter frequency band signals above the cut-off frequency. Signals of other frequency bands except the specific frequency band can be obtained by inverting the phase of the signals of the specific frequency band and then overlapping the inverted signals with the original complete frequency band signals. In another embodiment, a band-pass filter may be used instead of the low-pass filter to obtain signals of a specific frequency band.
Alternatively, when the cutoff frequency is set to fc, the first low-pass filter 11 or the second low-pass filter 12 is set according to the following equation:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × fc, s is a laplace operator.
By means of second-order low-pass filtering, the use of a notch filter can be reduced in the low-frequency main control loop, and meanwhile, the second-order low-pass filter can ensure that signals with cut-off frequency are filtered cleanly.
Optionally, the frequency band splitting unit includes a first low-pass filter and a first band-pass filter, and the frequency band splitting unit further includes a first high-pass filter or a second band-pass filter;
the first low-pass filter is configured to perform first low-pass filtering on the torque sensor signal to obtain a base frequency band;
the first band-pass filter is configured to first band-pass filter the torque sensor signal to obtain a first resonant frequency band;
the first high pass filter is configured to first high pass filter the torque sensor signal or the second band pass filter is configured to second band pass filter the torque sensor signal to obtain a second resonant frequency band.
A low-pass filter is an electronic filtering device that allows signals below a cutoff frequency to pass, but does not allow signals above the cutoff frequency to pass. The low pass filter can effectively filter frequency band signals above the cut-off frequency. A band-pass filter is a filter that passes frequency components in a certain frequency range but attenuates frequency components in other frequency ranges to an extremely low level, and is a device that allows waves in a specific frequency band to pass while shielding other frequency bands. The high-pass filter, also called low-cut filter and low-cut filter, allows frequencies higher than a certain cut frequency to pass through, but greatly attenuates lower frequencies, and can filter unnecessary low-frequency components in the signal or remove the low-frequency signal.
Optionally, the first band suppression or the second band suppression is performed according to the following formula:
wherein Q is f For the purpose of suppressing the transfer function for the frequency band,
is the molecular damping ratio, omega n For the undamped oscillation frequency of the molecule, p1, p2 and p3 are respectively the suppression frequency poles (which can be from small to large), and s is the laplacian operator.
Fig. 5 is a simulated bode plot of a band-reject transfer function according to an embodiment of the present application.
Referring to fig. 5, a simulation of the rejection transfer function according to the above formula shows that a trough appears in the gain amplitude at the frequency where the resonance peak is located, showing that the frequency is specifically rejected. Alternatively, the first band suppression unit and/or the second band suppression unit may be formed by a notch filter or other frequency suppression device.
Third embodiment
In an embodiment, the first band suppression unit and/or the second band suppression unit may be formed by a notch filter. Optionally, the notch filter is provided with a first input, a second input, a third input and an output.
The first input end configured to input a frequency band signal to be processed is connected to the frequency band splitting unit, and the frequency band signal to be processed includes a first resonant frequency band and/or a second resonant frequency band.
The second input is configured to input a vehicle speed signal and/or the third input is configured to input a steering wheel speed signal.
The notch filter is configured to output a notch filtering signal through an output end after performing preset association on a suppression frequency pole signal of the frequency band signal to be processed and a vehicle speed signal and/or a steering wheel rotating speed signal. The preset incidence relation can be obtained through real vehicle calibration.
The notch filter can recover the lagging phase, further reduce the vibration of the steering torque, and improve the stability of the system. Different speeds of the vehicle and different speeds of the steering wheel may cause different disturbances to the steering assistance. In the suppression process of the resonance peak frequency pole, the vehicle speed signal and the steering wheel rotating speed signal are correlated and referred, so that the stability of the power steering system can be improved.
FIG. 6 is a diagram illustrating the connection relationship of a notch filter according to an embodiment of the present application.
Referring to fig. 6, optionally, the notch filter includes a first pole association module 501, a second pole association module 502, and a band association module 503.
A first suppression frequency pole signal p1 is input to a pole input end of the first pole association module 501, and a second suppression frequency pole signal p2 is input to a pole input end of the first pole association module 501. A frequency band signal T to be processed is input to a first input end of the frequency band associating module 503.
The vehicle speed signal S is input to the vehicle speed input of the first pole association module 501 and the vehicle speed input of the second pole association module 502, and/or the steering wheel speed signal W is input to the rotational speed input of the first pole association module 501 and the rotational speed input of the second pole association module 502.
The output of the first pole correlation block 501 outputs a first pole correlation signal to a second input of the band correlation block 503. The output terminal of the second pole associating module 502 outputs the second pole associating signal to the third input terminal of the band associating module 503.
The output end of the frequency band correlation module 503 outputs a notch filter signal after performing preset correlation on the frequency band signal T to be processed, the first pole correlation signal, and the second pole correlation signal.
Each inhibition frequency pole is respectively associated with the vehicle speed and the rotating speed of the steering wheel, so that the steering power-assisted control system has better stabilizing effect under different working conditions.
With continued reference to fig. 6, the notch filter optionally further includes a third pole associating module 504. The third rejection band pole signal p3 is input to the pole input of the third pole correlation module 504.
The speed input of the third pole association module 504 inputs the speed signal S and/or the speed input of the third pole association module 504 inputs the steering wheel speed signal W.
An output of the third node associating module 504 outputs a third node associating signal to a fourth input of the band associating module 503.
The output end of the frequency band correlation module 503 outputs a notch filter signal after performing preset correlation on the frequency band signal T to be processed, the first pole correlation signal, the second pole correlation signal, and the third pole correlation signal.
By adding the third inhibition frequency band pole, the high frequency band can be further suppressed, the interference of a high frequency interference signal to the steering torque is avoided, and the stability of the system is enhanced.
Fourth embodiment
In another aspect, the present application further provides a steering control device.
In one embodiment, the steering control device includes a processor and a memory.
The memory stores one or more computer programs. The one or more computer programs stored in the memory, when executed by the processor, enable the steering control device to perform the steering control method as described above.
For details of the technology related to the process of implementing the steering control method by the steering control device, reference is made to the above embodiments, and details are not repeated here.
Fig. 7 is a flowchart illustrating the operation of the steering control device according to an embodiment of the present application.
Referring to fig. 7, optionally, the steering control device workflow includes the steps of:
s100: and carrying out torque sensor identification. The process advances to step S200.
S200: a vehicle speed signal is received. Step 300 is entered.
S300: and (5) calculating the power-assisted torque. Step 400 is entered.
S400: and controlling the current of the motor.
Optionally, the processor calls the computer program according to a preset time length to periodically execute the computer program.
Optionally, the steering control process is executed every 500us according to the actual measurement requirement of the vehicle steering work.
Fifth embodiment
In another aspect, the present application also provides a readable storage medium. In particular, the readable storage medium has stored thereon a computer program which, when being executed by a processor, realizes the steps of the steering control method as described above.
For details of the technology involved in the process of implementing the steering control method by the computer program, please refer to the above embodiments, which are not described herein again.
As described above, the steering control method, the steering control device and the readable storage medium provided by the application can accurately suppress torque fluctuation caused by a formant generated by a closed loop of a control circuit of the electric power steering system, control the steering power more specifically through multi-dimensional adjustment freedom, greatly reduce manpower and material resources input in the adjustment process of the electric power steering system, and effectively improve the driving hand feeling.
In this document, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms can be understood as a special case for those of ordinary skill in the art.
As used herein, the ordinal adjectives "first", "second", etc., used to describe an element are merely to distinguish between similar elements and do not imply that the elements so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions in the technical scope disclosed in the present application, and all the changes or substitutions are covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (18)
1. A steering control method characterized by comprising:
splitting a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band;
performing basic power-assisted processing on the basic frequency band to obtain a basic power-assisted signal, and performing first frequency band suppression on the first resonant frequency band to obtain a first filtering signal; performing second frequency band suppression on the second resonant frequency band to obtain a second filtering signal;
and generating a power assisting motor instruction signal according to the basic power assisting signal, the first filtering signal and the second filtering signal.
2. The method of claim 1, wherein the base band comprises a 0-5Hz band; and/or the first resonance frequency band comprises a 5-7Hz frequency band, and/or the second frequency band comprises a 13Hz-15Hz frequency band.
3. The method of claim 1, wherein the step of splitting the torque sensor signal into a base band, a first resonant band, and a second resonant band comprises:
performing a first low pass filtering on the torque sensor signal to obtain the fundamental frequency band;
performing a first band pass filtering on the torque sensor signal to obtain a first resonant frequency band; and/or, superposing the basic frequency band reversed phase and the torque sensor signal to obtain a basic outer frequency band, and performing second low-pass filtering on the basic outer frequency band to obtain the first resonant frequency band;
performing first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain the second resonant frequency band; and/or, the first resonant frequency band is inverted and superposed with a basic external frequency band to obtain the second resonant frequency band.
4. A method according to claim 3, characterized in that, when the cut-off frequency is set to fc, the first low-pass filtering or the second low-pass filtering is performed according to the following formula:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × fc, s is a laplace operator.
5. The method of claim 1, wherein said first band suppression or said second band suppression is performed according to the following equation:
wherein Q is f For the purpose of suppressing the transfer function for the frequency band,
is the molecular damping ratio, omega n For undamped oscillation frequency of the molecule, p1, p2 and p3 are the suppression frequency poles, and s is the Laplace operator.
6. The method according to any of the claims 1-5, wherein said step of performing a first band suppression on said first resonance band to obtain a first filtered signal and/or said step of performing a second band suppression on said second resonance band to obtain a second filtered signal is preceded by the steps of:
and presetting and associating the suppression frequency pole signal of the first resonance frequency band and/or the second resonance frequency band with a vehicle speed signal and/or a steering wheel rotating speed signal.
7. A steering control device characterized by comprising: a frequency band splitting unit, a basic power-assisted unit, a first frequency band restraining unit, a second frequency band restraining unit and a power-assisted motor control unit,
the frequency band splitting unit is configured to split a torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band, and is respectively connected with the basic power unit, the first frequency band suppression unit and the second frequency band suppression unit;
the basic power unit is configured to perform basic power processing on the basic frequency band to obtain a basic power signal, the first frequency band suppression unit is configured to perform first frequency band suppression on the first resonant frequency band to obtain a first filtered signal, and the second frequency band suppression unit is configured to perform second frequency band suppression on the second resonant frequency band to obtain a second filtered signal;
and the power-assisted motor control unit is respectively connected with the basic power-assisted unit, the first frequency band suppression unit and the second frequency band suppression unit and is configured to generate a power-assisted motor command signal according to the basic power-assisted signal, the first filtering signal and the second filtering signal.
8. The apparatus of claim 7, wherein the band splitting unit comprises a first low pass filter, a second low pass filter, a first signal processor, a second signal processor;
a first low pass filter coupled to the first signal processor and configured to first low pass filter the torque sensor signal to obtain the fundamental frequency band;
the first signal processor is respectively connected with the second low-pass filter and the second signal processor and is configured to superpose the basic frequency band inversion and the torque sensor signal to obtain a basic outer frequency band;
the second low-pass filter is configured to perform a second low-pass filtering on the basic outer band to obtain the first resonant band;
the second signal processor is configured to invert the first resonant frequency band and superimpose a base outer frequency band to obtain the second resonant frequency band.
9. The method of claim 8, wherein setting the first low pass filter or the second low pass filter when the cutoff frequency is set to fc is performed according to the following equation:
wherein G is a filter transfer function, epsilon is an attenuation coefficient, and omega c And =2 × fc, s is a laplace operator.
10. The method of claim 7, wherein said first band suppression or said second band suppression is performed according to the following equation:
wherein Q is f For the purpose of suppressing the transfer function for the frequency band,
is the molecular damping ratio, omega n For the undamped oscillation frequency of the molecule, p1, p2 and p3 are respectively the suppression frequency poles, and s is the Laplace operator.
11. The apparatus of claim 7, wherein the band splitting unit comprises a first low pass filter and a first band pass filter, the band splitting unit further comprising either a first high pass filter or a second band pass filter;
the first low pass filter is configured to first low pass filter the torque sensor signal to obtain the fundamental frequency band;
the first band pass filter is configured to first band pass filter the torque sensor signal to obtain a first resonant frequency band;
the first high pass filter is configured to first high pass filter the torque sensor signal or the second band pass filter is configured to second band pass filter the torque sensor signal to obtain the second resonant frequency band.
12. An arrangement according to any of claims 7-11, characterized in that said first band suppression unit and/or said second band suppression unit are formed by notch filters.
13. The apparatus of claim 12, wherein the notch filter has a first input, a second input, a third input, and an output; the first input end configured to input a frequency band signal to be processed is connected to the frequency band splitting unit, and the frequency band signal to be processed includes the first resonant frequency band and/or the second resonant frequency band; the second input end is configured to input a vehicle speed signal and/or the third input end is configured to input a steering wheel rotating speed signal, and the notch filter is configured to output a notch filtering signal through the output end after preset association is carried out on a suppression frequency pole signal of the frequency band signal to be processed and the vehicle speed signal and/or the steering wheel rotating speed signal.
14. The apparatus of claim 13, wherein the notch filter comprises a first pole association module, a second pole association module, and a band association module;
a first suppression frequency pole signal is input to a pole input end of the first pole correlation module, a second suppression frequency pole signal is input to a pole input end of the first pole correlation module, and the frequency band signal to be processed is input to a first input end of the frequency band correlation module;
the vehicle speed signal is input into a vehicle speed input end of the first pole correlation module and a vehicle speed input end of the second pole correlation module, and/or the steering wheel rotating speed signal is input into a rotating speed input end of the first pole correlation module and a rotating speed input end of the second pole correlation module;
the output end of the first pole correlation module outputs a first pole correlation signal to the second input end of the frequency band correlation module; the output end of the second pole associating module outputs a second pole associating signal to a third input end of the frequency band associating module;
and the output end of the frequency band correlation module outputs the notch filtering signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal and the second pole correlation signal.
15. The apparatus of claim 14, wherein the notch filter further comprises a third pole association module;
a third inhibition frequency band pole signal is input to a pole input end of the third pole correlation module;
the speed signal is input into a speed input end of the third pole association module, and/or the steering wheel speed signal is input into a speed input end of the third pole association module;
the output end of the third pole association module outputs a third pole association signal to the fourth input end of the frequency band association module;
and the output end of the frequency band correlation module outputs the notch filtering signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal, the second pole correlation signal and the third pole correlation signal.
16. A steering control device, comprising a processor and a memory;
the memory stores one or more computer programs;
one or more computer programs stored in the memory that, when executed by the processor, enable the steering control device to perform the method of any of claims 1-6.
17. The device of claim 16, wherein the processor calls the computer program for a preset duration to periodically execute the computer program.
18. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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