CN115520272A - Friction torque learning and compensating method for steering system and system thereof - Google Patents
Friction torque learning and compensating method for steering system and system thereof Download PDFInfo
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- CN115520272A CN115520272A CN202111613012.8A CN202111613012A CN115520272A CN 115520272 A CN115520272 A CN 115520272A CN 202111613012 A CN202111613012 A CN 202111613012A CN 115520272 A CN115520272 A CN 115520272A
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a friction torque learning and compensating method and a system thereof for a steering system, wherein the steering system comprises a power steering unit, and the learning and compensating method comprises the following steps: receiving current driving state information of the vehicle attached to the steering system; judging whether the current driving state information meets a preset friction torque learning condition or not; when the current driving state information meets the friction torque learning condition, calculating and storing the friction torque of the steering system; and controlling the power steering unit to perform friction torque compensation according to the calculated friction torque. The friction torque learning device can continuously learn the friction torque according to the current driving state information of the automobile, and can control the steering power assisting unit to update the new friction torque in time so as to compensate the influence of the friction torque on the steering hand feeling and ensure the hand feeling consistency of the steering system in the whole service life.
Description
Technical Field
The invention relates to an electric hydraulic power-assisted steering system of an automobile and the technical field of restraining power-assisted fluctuation thereof, in particular to a friction torque learning and compensating method and a friction torque learning and compensating system for a steering system.
Background
In the working process of the electro-hydraulic power-assisted steering, because a power unit (such as a motor, a reduction gear and the like) exists in the whole steering system to assist the steering torque, when a driver operates a steering wheel, the resistance torque caused by wheel load needs to be overcome, and the resistance torque caused by friction in the power unit also needs to be overcome. As the steering system is used for a longer time, the transmission parts inside the steering system are worn, and the frictional resistance of the steering system is increased, so that the steering system feels heavier. Therefore, in order to eliminate the influence of the friction torque on the steering feel, it is necessary to compensate for the friction torque in the power unit.
In the prior art, friction is typically compensated for by using a fixed friction compensation curve obtained from testing the power unit on an end of line (EOL) bench. However, once the power unit is installed in the vehicle, the friction torque may change; moreover, as the components in the power unit operate over time, the friction torque of the power unit will also change throughout its useful life. Thus, if the power unit uses the friction compensation curve measured during EOL, the steering feel may vary greatly over time and as the vehicle mileage increases.
Therefore, in order to ensure the constancy of the steering feel during the long-term use of the steering system, it is necessary to design a real-time friction torque learning and compensating method for the steering system and a system thereof.
Disclosure of Invention
In view of the above problems, the present invention provides a novel friction torque learning and compensating method for a steering system and a system thereof, which can eliminate the influence of friction torque on steering feel and ensure the constancy of steering feel throughout the service life of the steering system.
According to one aspect, the present invention provides a friction torque learning and compensating method for a steering system including a steering assist unit, the friction torque learning and compensating method including the steps of: receiving current driving state information of the vehicle attached to the steering system; judging whether the current driving state information meets a preset friction torque learning condition or not; when the current driving state information meets the friction torque learning condition, calculating and storing the friction torque of the steering system; and controlling the power steering unit to perform friction torque compensation according to the calculated friction torque.
According to a preferred embodiment of the invention, the step of calculating the friction torque further comprises: determining a torque upper limit value T _ up and a torque lower limit value T _ down of the steering system, and obtaining the friction torque of the steering system according to the torque upper limit value T _ up and the torque lower limit value T _ down.
According to a preferred embodiment of the invention, the upper torque limit value T _ up is the larger torque value obtained when the steering wheel steering angle gradient changes from a positive value to a non-positive value when the driver turns the steering wheel, and the lower torque limit value T _ down is the smaller torque value obtained when the steering wheel steering angle gradient changes from a non-negative value to a negative value when the driver releases the steering wheel.
According to a preferred embodiment of the invention, the friction torque is obtained using the following expression: t _ fraction = (T _ up + T _ down)/2.
According to a preferred embodiment of the present invention, the friction torque learning condition is: (1) the current vehicle speed is in a preset vehicle speed range; (2) The absolute value of the steering angle of the steering wheel is smaller than the preset maximum value of the steering angle; (3) the rotating speed of the motor is less than the preset rotating speed of the motor; (4) the output torque of the power unit is smaller than the preset output torque; satisfying the friction torque learning condition means that the above 4 conditions are satisfied simultaneously.
According to a preferred embodiment of the present invention, the friction torque compensation is performed while satisfying any one of the following compensation conditions: (1) The sum of the hand torque and the actual output torque of the power unit is greater than the preset output torque; (2) When the steering wheel actively returns, the absolute value of the steering angular velocity of the steering wheel is larger than the minimum value of the steering angular velocity, and the absolute value of the steering angle of the steering wheel is larger than the preset minimum value of the steering angle.
According to a preferred embodiment of the invention, performing the friction torque compensation further comprises the steps of: judging whether the calculated friction torque is within a preset range; and if the calculated friction torque is within a preset range, performing friction torque compensation by using the calculated friction torque; otherwise, the friction torque compensation is carried out or not by using the friction torque calculated last time.
According to a preferred embodiment of the invention, the friction torque compensation using the calculated friction torque further comprises the steps of: different compensation status signals are presented to the driver according to different compensation results.
According to another aspect, there is provided a system for performing the above friction torque learning and compensating method for a steering system, comprising: a learning condition receiving portion configured to receive current driving state information of the steering system-attached vehicle; a learning condition determination section configured to determine whether the current driving state information satisfies a preset friction torque learning condition; a friction torque calculation section configured to calculate and store a friction torque of the steering system when the current driving state information satisfies the friction torque learning condition; and a friction torque compensation portion configured to control the steering assist unit to perform friction torque compensation according to the calculated friction torque.
Therefore, the friction torque learning and compensating method and the friction torque learning and compensating system for the steering system can continuously learn the friction torque according to the current driving state information of the automobile, and can control the power steering unit to update the new friction torque in time so as to compensate the influence of the friction torque on the steering hand feeling and ensure the hand feeling consistency of the steering system in the whole service life.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below by referring to the accompanying drawings.
Fig. 1 shows a block schematic diagram of a friction torque learning and compensation system for a steering system according to the invention.
Fig. 2 shows a schematic flow diagram of a friction torque learning and compensation method performed by the friction torque learning and compensation system for a steering system of fig. 1.
Fig. 3 shows a schematic representation of the operation of the steering system according to the invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the described embodiments.
Fig. 1 shows a block schematic diagram of a friction torque learning and compensating system for a steering system according to the present invention, and fig. 2 shows a flow schematic diagram of a friction torque learning and compensating method performed by the friction torque learning and compensating system for a steering system of fig. 1. The steering system is mounted in a vehicle such as an automobile, and includes a steering wheel, a power steering unit for assisting the steering of the steering wheel, and the like, and the power steering unit may assist the steering wheel by using a driving method such as electric, hydraulic, or electric-hydraulic hybrid. The friction torque learning and compensating system can continuously learn the friction torque according to the current driving state information of the automobile, can communicate with the power steering unit, and controls the power steering unit to compensate the new friction torque in time, so that the adverse effect of the friction torque on the steering hand feeling of a driver can be eliminated. The friction torque learning and compensating system and the friction torque learning and compensating method implemented by the friction torque learning and compensating system according to the present invention will be described below with reference to fig. 1 and 2.
As shown in fig. 1, the friction torque learning and compensating system 100 includes a learning condition receiving section 10, a learning condition determining section 20, a friction torque calculating section 30, and a friction torque compensating section 40. Optionally, the friction torque learning and compensation system 100 further includes a data store 50. The learning condition receiving part 10, the learning condition determining part 20, the friction torque calculating part 30, the friction torque compensating part 40, and the data storing part 50 may be in wired or wireless communication with the steering system.
The learning condition receiving part 10 can communicate with various sensors of the automobile to receive current driving state information of the automobile (step S210). These sensors may include, but are not limited to: a vehicle speed sensor for measuring the current actual vehicle speed, a motor rotational speed sensor for measuring the current rotational speed of the motor, a motor torque sensor for measuring the current torque of the motor, a steering wheel steering angle sensor for measuring the angle by which the steering wheel is turned with respect to its central position, a steering wheel torque sensor for measuring the torque of the steering wheel (i.e. the hand torque mentioned below). The current driving state information of the automobile is related to the friction torque learning compensation of the steering system.
The learning condition determining part 20 can communicate with the learning condition receiving part 10 to determine whether the current driving state information satisfies a preset friction torque learning condition (step S220). The friction torque learning condition may be stored in the data storage portion 50 in advance. The learning condition determining section 20 can access the data storage section 50 to acquire these friction torque learning conditions. The friction torque learning condition may be: (1) the current vehicle speed is in a preset vehicle speed range; (2) The absolute value of the steering angle of the steering wheel is smaller than the preset maximum value of the steering angle; (3) the rotating speed of the motor is less than the preset rotating speed of the motor; and (4) the output torque of the power unit is smaller than the preset output torque. In an exemplary embodiment, the preset vehicle speed range may refer to a preset minimum vehicle speed (e.g., 30 km/h) or more and a preset maximum vehicle speed (e.g., 120 km/h) or less, the preset maximum steering angle is 20 degrees, the preset motor rotation speed is 40 rpm, and the preset output torque of the power unit is generally set to be lower than the actual friction torque, for example, to be 2 n.m. These numerical values may be stored in the data storage unit 50 in advance, and when the learning condition determination unit 20 performs the learning condition determination, these numerical values may be obtained by accessing the data storage unit 50. Further, satisfying the friction torque learning condition means that the above four conditions are satisfied simultaneously.
The friction torque calculation unit 30 can communicate with the learning condition determination unit 20, and when the current driving state information satisfies the friction torque learning condition, calculates and stores the friction torque of the steering system (step S230). In particular, the friction torque calculation section 30 starts performing the calculation only when the above 4 conditions are simultaneously satisfied. The calculation process of the friction torque will be described below with reference to fig. 3.
As shown in fig. 3, first, a torque upper limit value T _ up of the steering system, which is a large torque value obtained when the steering angle gradient of the steering wheel changes from a positive value to a non-positive value when the driver turns the steering wheel, is determined. The steering wheel steering angle gradient refers to a change in steering wheel steering angle over time. If the steering wheel gradient is positive when the driver turns the steering wheel clockwise or counterclockwise, the steering wheel angle continues to increase, while the steering wheel torque also continues to increase. When the steering wheel steering angle gradient changes from a positive value to 0 or a non-negative value, it means that the steering wheel steering angle no longer increases, which means that the steering wheel torque no longer increases. This case corresponds to point a in fig. 3, where the resulting torque at this time is the torque upper limit value T _ up of the steering system, which satisfies the following expression (1):
T_up＝T_measure_A+T_motor_A*i (1)
where T _ measure _ a represents a steering wheel torque (i.e., hand torque) measured when the steering wheel is at the a point position, T _ motor _ a represents a motor torque when the steering wheel is at the a point position, and i represents a turning ratio of a power unit in the steering system.
Meanwhile, the torque upper limit value T _ up of the steering system also satisfies the following expression (2)
T_up＝T_friction+T_return (2)
Where T _ friction represents the friction torque of the steering system, and T _ return represents the return torque of the steering wheel from point a to its center position when the driver releases the steering wheel.
Next, a lower limit value T _ down of the torque of the steering system is determined, and the lower limit value T _ down is a smaller torque value obtained when the steering angle gradient of the steering wheel changes from a non-negative value to a negative value when the driver releases the steering wheel. If the driver releases the steering wheel at point a, the steering wheel will return to the central position under the influence of the return element, and at the very beginning of the process the steering angle does not change much, but the measured steering wheel torque decreases continuously. When the steering wheel steering angle gradient changes from a non-negative value to a negative value, which indicates that the steering wheel has returned to the center position and reversely rotated from the center position, which corresponds to point B in fig. 3, the resultant torque is a torque lower limit value T _ down of the steering system, which satisfies the following expression (3):
T_down＝T_measure_B+T_motor_B*i (3)
where T _ measure _ B represents a steering wheel torque measured when the steering wheel is at the B point position, T _ motor _ B represents a motor torque when the steering wheel is at the B point position, and i represents a turning ratio of a power unit in the steering system.
Since the direction of the return torque is opposite to the direction of the steering wheel torque and the friction torque in the process of returning the steering wheel from the point a to the center position, the torque lower limit value T _ down of the steering system also satisfies the following expression (4):
T_friction+T_low＝T_return (4)
in combination with the above-described relational expressions (2) and (4), the following expression (5) can be obtained:
T_friction＝(T_up+T_down)/2 (5)。
in other words, the friction torque of the steering system can be obtained from the torque upper limit value T _ up and the torque lower limit value T _ down, which can be calculated using the above expressions (1) and (3). Of course, the present invention is not limited to this, and the torque upper limit value T _ up and the torque lower limit value T _ down may be set in advance in the data storage unit 50.
After calculating the friction torque T _ friction of the steering system, the friction torque calculation section 30 may store it in the data storage section 50 so that the friction torque compensation section 40 compensates.
The friction torque compensation section 40 may be in communication with the friction torque calculation section 30, and configured to control the steering assist unit to perform friction torque compensation according to the calculated friction torque.
In the exemplary embodiment, first, the friction torque compensating portion 40 may determine whether any of the following compensation conditions is satisfied (step S240): (1) The sum of the hand torque and the actual output torque of the power unit is greater than the preset output torque; (2) When the steering wheel actively returns, the absolute value of the steering angular velocity of the steering wheel is larger than the minimum value of the steering angular velocity, and the absolute value of the steering angle of the steering wheel is larger than the preset minimum value of the steering angle. For example, the preset output torque of the power unit is 2 n.m. The steering angular velocity minimum is 4 degrees/second. The minimum steering angle is 1 degree. Therefore, for the (2) th condition, the compensation condition may become: when the driver looses the steering wheel and then the steering wheel actively returns to the central position from the left position, the steering angle of the steering wheel is larger than 1 degree and the steering angular speed of the steering wheel is smaller than-4 degrees/second; or when the steering wheel is actively returned to the center position from the right position after the driver releases the steering wheel, the steering angle of the steering wheel is less than-1 degree and the steering angular speed of the steering wheel is greater than 4 degrees/second. These compensation conditions and values may be stored in the data storage unit 50 in advance, and when the friction torque compensation unit 40 determines the compensation conditions, these compensation conditions and values may be obtained by accessing the data storage unit 50.
When it is determined that any of the above compensation conditions is satisfied, the friction torque compensation unit 40 then determines whether the friction torque calculated by the friction torque calculation unit 30 is within a predetermined range (step S250). The predetermined range here is 0 to 5 n.m, not inclusive.
Then, the friction torque compensation unit 40 performs friction torque compensation or does not perform compensation according to the determination result in step S250 (step S260), and simultaneously presents different compensation state signals to the driver according to different compensation results.
If it is determined that the calculated friction torque is within the preset range, the friction torque compensation unit 40 causes the steering assist unit to perform friction torque compensation using the friction torque calculated by the friction torque calculation unit 30, and presents a compensation state signal, for example, a digital "1", indicating that the friction torque has been compensated by the newly calculated friction torque to the driver, when any of the above compensation conditions is satisfied.
If the calculated friction torque is not within the preset range, the friction torque compensation portion 40 will cause the steering assist unit to perform friction torque compensation or not to perform compensation using the friction torque calculated last time.
For example, if it is determined that the calculated friction torque is 5 n · m or more, the friction torque compensation unit 40 causes the steering assist unit to perform friction torque compensation using the friction torque calculated last time, and presents a compensation state signal, for example, a digital "2", indicating that the friction torque has been compensated by the friction torque calculated last time to the driver. If it is determined that the calculated frictional force is 0 or less, which means that the calculation result is inaccurate, the frictional torque compensation section 40 does not perform the frictional torque compensation, but presents a compensation state signal indicating that the frictional torque is not compensated, for example, a digital "0" to the driver.
The above description related to fig. 3 describes that the friction torque compensation part 40 first determines whether the compensation condition is satisfied, and then determines whether the calculated friction torque is within the preset range. However, the present invention is not limited thereto. The friction torque compensation part 40 may first determine whether the calculated friction torque is within a preset range, and then determine whether a compensation condition is satisfied; or simultaneously judging whether the calculated friction torque is within a preset range and whether a compensation condition is met.
In conclusion, the friction torque learning and compensating method and the friction torque learning and compensating system for the steering system can continuously learn the friction torque according to the current driving state information of the automobile and can control the power steering unit to compensate the new friction torque in time, so that the stability of the friction compensation torque is ensured, the influence of the friction torque which continuously changes along with the service life and the driving mileage on the steering hand feeling is eliminated, and the hand feeling consistency of the electric power steering system in the whole service life is ensured.
Further, the friction torque learning and compensating system for a steering system according to the present invention may be implemented by a computer software module, wherein each of the included functional modules and module units can correspond to a specific hardware circuit in an integrated circuit structure, thereby solving the corresponding technical problems and achieving the corresponding technical effects not only relating to the improvement of the specific hardware circuit, but also relating to the application of control software or a computer program, that is, the present invention may solve the technical problems to be solved and achieve the corresponding technical effects by using the improvement of the hardware circuit structure and the corresponding improvement of the computer program related to these modules and units.
While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. A friction torque learning and compensation method for a steering system including a steering assist unit, the friction torque learning and compensation method comprising the steps of:
receiving current driving state information of the vehicle attached to the steering system;
judging whether the current driving state information meets a preset friction torque learning condition or not;
when the current driving state information meets the friction torque learning condition, calculating and storing the friction torque of the steering system; and
and controlling the power steering unit to perform friction torque compensation according to the calculated friction torque.
2. The friction torque learning and compensating method for the steering system according to claim 1, wherein the step of calculating the friction torque further includes:
determining an upper torque limit value T _ up and a lower torque limit value T _ down of the steering system, an
And obtaining the friction torque of the steering system according to the torque upper limit value T _ up and the torque lower limit value T _ down.
3. A friction torque learning and compensating method for the steering system according to claim 2, wherein the torque upper limit value T _ up is a large torque value obtained when a steering wheel steering angle gradient changes from a positive value to a non-positive value when a driver turns a steering wheel, and the torque lower limit value T _ down is a small torque value obtained when the steering wheel steering angle gradient changes from a non-negative value to a negative value when the driver releases the steering wheel.
4. A friction torque learning and compensating method for the steering system according to claim 2, wherein the friction torque is obtained using the following expression:
T_friction＝(T_up+T_down)/2。
5. the friction torque learning and compensation method for the steering system according to claim 1, wherein the friction torque learning condition is:
(1) The current vehicle speed is within a preset vehicle speed range;
(2) The absolute value of the steering angle of the steering wheel is smaller than the preset maximum value of the steering angle;
(3) The motor rotating speed is less than the preset motor rotating speed;
(4) The output torque of the power unit is smaller than the preset output torque;
satisfying the friction torque learning condition means that the above 4 conditions are simultaneously satisfied.
6. The friction torque learning and compensating method for the steering system according to claim 1, wherein performing friction torque compensation is performed in a case where any one of the following compensation conditions is satisfied:
(1) The sum of the hand torque and the actual output torque of the power unit is greater than the preset output torque;
(2) When the steering wheel actively returns, the absolute value of the steering angular velocity of the steering wheel is larger than the minimum value of the steering angular velocity, and the absolute value of the steering angle of the steering wheel is larger than the preset minimum value of the steering angle.
7. The friction torque learning and compensating method for the steering system according to claim 1, wherein performing friction torque compensation further includes the steps of:
judging whether the calculated friction torque is within a preset range; and
if the calculated friction torque is within a preset range, performing friction torque compensation by using the calculated friction torque; otherwise, the friction torque compensation is carried out or not carried out by utilizing the friction torque calculated last time.
8. The friction torque learning and compensating method for the steering system according to claim 7, wherein the friction torque compensation using the calculated friction torque further includes the steps of:
different compensation status signals are presented to the driver according to different compensation results.
9. A friction torque learning and compensating system for a steering system capable of performing the friction torque learning and compensating method for the steering system according to any one of claims 1 to 8, the steering system including a steering assist unit, the friction torque learning and compensating system comprising:
a learning condition receiving portion configured to receive current driving state information of the steering system-attached vehicle;
a learning condition determination section configured to determine whether the current driving state information satisfies a preset friction torque learning condition;
a friction torque calculation section configured to calculate and store a friction torque of the steering system when the current driving state information satisfies the friction torque learning condition; and
a friction torque compensation portion configured to control the steering assist unit to perform friction torque compensation according to the calculated friction torque.
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| CN202111613012.8A CN115520272A (en) | 2021-12-27 | 2021-12-27 | Friction torque learning and compensating method for steering system and system thereof |
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| CN202111613012.8A CN115520272A (en) | 2021-12-27 | 2021-12-27 | Friction torque learning and compensating method for steering system and system thereof |
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