CN117799691A - Method and system for monitoring electric power steering clamping stagnation and vehicle with electric power steering clamping stagnation - Google Patents
Method and system for monitoring electric power steering clamping stagnation and vehicle with electric power steering clamping stagnation Download PDFInfo
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- CN117799691A CN117799691A CN202410230615.7A CN202410230615A CN117799691A CN 117799691 A CN117799691 A CN 117799691A CN 202410230615 A CN202410230615 A CN 202410230615A CN 117799691 A CN117799691 A CN 117799691A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 36
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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
- B62D5/0481—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 monitoring the steering system, e.g. failures
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Abstract
The invention discloses a monitoring method, a system and a vehicle for electric power steering clamping stagnation, which belong to the technical field of vehicles, wherein the monitoring method for electric power steering clamping stagnation is suitable for an electric power steering system, and the problem of whether the EPS system has steering clamping stagnation is comprehensively judged according to signals by acquiring the signals of the torque of a steering wheel, the torque of a motor, the rotor position of the motor and the rotor rotating speed of the motor; when the change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, the electric power steering system can be judged to have steering clamping stagnation faults, the problem of steering clamping stagnation can be accurately identified, the fault identification rate can be improved, the clamping stagnation problem can be conveniently analyzed, the method is used for providing basis for fault statistics analysis by a designer, and the method is suitable for systems such as C-EPS, P-EPS and DP-EPS.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a method and a system for monitoring electric power steering clamping stagnation and a vehicle with the same.
Background
With the development of automobile technology, an electric power steering technology has become a main technology of a current passenger car steering system, and a controller provides power by controlling a motor to help a driver control the steering of the vehicle, so that the control feeling and safety of the driver are improved; meanwhile, the controller detects faults through the system self-checking and fault diagnosis functions and provides corresponding alarms and fault codes when faults are found.
Common electric power steering systems (Electric Power Steering, EPS) are a column type electric power steering system (Column Electric Power Steering, C-EPS), a single gear type electric power steering system (Pinion Electric Power Steering, P-EPS), a double gear type electric power steering system (Dual Pinion Electric Power Steering, DP-EPS), and a rack type electric power steering system (Rack Electric Power Steering, R-EPS). Wherein, both the C-EPS and the DP-EPS realize the speed reduction and torque increase of the motor through the worm and gear speed reduction mechanism. The worm gear and worm are unreasonable in design due to center distance, tooth profile parameters, tooth surface side roughness, grease performance and the like, a stick-slip effect can be caused by poor lubrication in the running process, when the stick-slip effect is serious, the stick-slip effect is directly fed back to the hand feeling of a driver, the driver perceives steering clamping stagnation, at the moment, the clamping stagnation problem is eliminated by modifying the matching parameters of the worm gear and worm or adding a clamping stagnation compensation strategy, but how to identify the steering clamping stagnation problem through the diagnosis strategy of a controller is a difficult problem.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a monitoring method for the electric power steering jamming, which can accurately identify the problem of the steering jamming and is beneficial to improving the identification rate of faults.
The invention also provides an electric power steering system, a vehicle controller and a vehicle comprising the electric power steering system.
According to the method for monitoring the electric power steering clamping stagnation in the first aspect, the method comprises the following steps:
be applied to electric power steering system, electric power steering system includes steering wheel and motor, includes:
acquiring the torque of the steering wheel, the torque of the motor, the rotor position of the motor and the rotor rotating speed of the motor;
and when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has a steering clamping stagnation fault.
The monitoring method for the electric power steering clamping stagnation has at least the following beneficial effects:
the monitoring method is suitable for an electric power steering system, and comprehensively judges whether the EPS system has the problem of steering clamping stagnation according to signals obtained by acquiring the signals of the torque of a steering wheel, the torque of a motor, the rotor position of the motor and the rotor rotating speed of the motor; because the torque of the steering wheel is gradually increased along with the steering operation of the driver when the driver turns, if the problem of jamming does not occur on the worm gear at the moment, the signal is smoothly changed at the moment of motor rotation, and abnormal abrupt change does not occur; when the change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, the electric power steering system can be judged to have steering clamping stagnation faults, the problem of steering clamping stagnation can be accurately identified, the fault identification rate can be improved, the clamping stagnation problem can be conveniently analyzed, the method is used for providing basis for fault statistics analysis by a designer, and the method is suitable for systems such as C-EPS, P-EPS and DP-EPS.
According to some embodiments of the invention, the obtaining the torque of the steering wheel, the rotor position of the motor, the torque of the motor, and the rotor speed of the motor includes:
determining a torque variation value of the steering wheel according to the torque of the steering wheel at the current moment and the torque of the steering wheel at the last moment;
determining a torque change value of the motor according to the torque of the motor at the current moment and the torque of the motor at the last moment;
determining a rotor position change value of the motor according to the rotor positions of the motor at the current moment and the last moment;
and determining a rotor speed change value of the motor according to the rotor speeds of the current moment and the last moment of the motor.
According to some embodiments of the invention, after the determining that the electric power steering system has a steering stuck fault, the method further includes:
and controlling to generate a clamping stagnation fault code, and uploading the clamping stagnation fault code to a cloud database.
According to some embodiments of the invention, after the determining that the electric power steering system has a steering stuck fault, the method further includes:
judging the perception state of a driver according to the current torque of the steering wheel;
when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that a driver is in a perception state, and generating a first clamping stagnation fault code;
and when the current torque of the steering wheel is smaller than a second preset threshold value, judging that the driver is in a non-perception state, and generating a second clamping stagnation fault code.
An electric power steering system according to a second aspect of embodiments of the present invention includes a steering wheel, a motor, and a controller configured to acquire torque of the steering wheel, torque of the motor, a rotor position of the motor, and a rotor speed of the motor; and when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has steering jamming faults.
The electric power steering system provided by the embodiment of the invention has at least the following beneficial effects:
the electric power steering system can collect signals of the torque of a steering wheel, the torque of a motor, the rotor position of the motor and the rotor rotating speed of the motor through existing sensors of the vehicle, and comprehensively judge whether the EPS system has the problem of steering clamping stagnation or not according to the signals; when the change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, the electric power steering system can be judged to have steering clamping stagnation faults, the problem of steering clamping stagnation can be accurately identified, the fault identification rate can be improved, the clamping stagnation problem can be conveniently analyzed, the method is used for providing basis for fault statistics analysis by a designer, and the method is favorable for improving the driving safety of a vehicle.
According to some embodiments of the invention, the controller is further configured to,
determining a torque variation value of the steering wheel according to the torque of the steering wheel at the current moment and the torque of the steering wheel at the last moment;
determining a torque change value of the motor according to the torque of the motor at the current moment and the torque of the motor at the last moment;
determining a rotor position change value of the motor according to the rotor positions of the motor at the current moment and the last moment;
and determining a rotor speed change value of the motor according to the rotor speeds of the current moment and the last moment of the motor.
According to some embodiments of the invention, the controller is further configured to control generation of a stuck fault code and upload the stuck fault code to a cloud database.
According to some embodiments of the invention, the controller is further configured to determine a perceived state of the driver based on a current torque of the steering wheel; when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that a driver is in a perception state, and generating a first clamping stagnation fault code; and when the current torque of the steering wheel is smaller than a second preset threshold value, judging that the driver is in a non-perception state, and generating a second clamping stagnation fault code.
A vehicle controller according to a third aspect of embodiments of the invention includes at least one processor; and a memory storing instructions that, when executed by the at least one processor, perform the method of monitoring electric power steering stuck as described in the first aspect of the embodiment.
The vehicle controller according to the embodiment of the invention has at least the following beneficial effects:
the vehicle controller executes the monitoring method of the electric power steering jamming in the embodiment, when the change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds the first preset threshold value, the situation that the electric power steering system has the steering jamming fault can be judged, the problem of the steering jamming can be accurately identified, the problem of the jamming is favorably improved, the problem of the jamming is conveniently analyzed, the method is used for providing basis for the designer to the fault statistics analysis, and the method is suitable for systems such as C-EPS, P-EPS and DP-EPS.
A vehicle according to a fourth aspect of an embodiment of the present invention includes the electric power steering system according to the second aspect of the embodiment described above, or the vehicle controller according to the third aspect of the embodiment described above.
Because the vehicle adopts all the technical schemes of the electric power steering system or the vehicle controller of the above embodiment, the vehicle has at least all the beneficial effects brought by the technical schemes of the above embodiment, and the description is omitted here.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for monitoring electric power steering stuck in an embodiment of the present invention;
FIG. 2 is a schematic diagram of the variation of torque of a steering wheel, torque of a motor, rotor position of the motor, and rotor speed in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart of a specific example of a method for monitoring electric power steering stuck in accordance with an embodiment of the present invention;
fig. 4 is a flowchart showing a specific example of a method for monitoring an electric power steering jam according to another embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the terms upper, lower, etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present invention.
In the description of the present invention, plural means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and the above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, it should be noted that terms such as arrangement, installation, connection, etc. should be construed broadly, and those skilled in the art may reasonably determine the specific meaning of the foregoing terms in the present invention in combination with the specific content of the technical solution.
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings, in which it is apparent that the embodiments described below are some, but not all embodiments of the invention.
According to the worm and gear monitoring method, sensors are arranged on the speed reducing mechanism shell and the worm and gear central shaft, characteristics of the worm and gear related signals are monitored and compared with standard characteristics, and whether the worm and gear clamping stagnation problem exists is judged. It has the following problems: the added sensor needs to be additionally designed in arrangement space, so that the cost of parts is increased, and the new failure mode of the system is also increased due to the extra structural design; secondly, whether the C-EPS is jammed or not can be directly represented by the operation characteristics of the worm gear, but for the DP-EPS, the jamming problem of the worm gear needs to be transmitted to the hands of a driver through two pairs of gears meshed and then through a steering column, and the method cannot effectively represent whether the DP-EPS is jammed or not due to the attenuation effects of factors such as a system clearance, torsional rigidity and the like.
The embodiment of the invention provides a monitoring method for electric power steering jamming, which can accurately identify the problem of steering jamming without additionally designing a sensor, so that additional cost is not increased, and new failure modes and risks of a vehicle are avoided. In addition, the monitoring method of the electric power steering clamping stagnation is simultaneously suitable for the C-EPS, the P-EPS and the DP-EPS systems.
It should be noted that, the various EPS systems described above are all composed of a mechanical steering system, a torque sensor, a vehicle speed sensor, an EPS control unit, a booster motor, a reduction mechanism, and the like, and the selection of the structural form thereof depends largely on the required booster size and spatial arrangement. When a driver rotates a steering wheel, a torque sensor converts a relative rotation angle between a steering input shaft and an output shaft into a voltage signal and transmits the voltage signal to an EPS control unit, the EPS control unit firstly calculates the target current of a power-assisted motor according to the current steering wheel torque, the speed and other signals, then calculates the required control voltage by combining the detected actual motor current through a current control algorithm and then acts on the power-assisted motor through an inverter, and the torque generated by the power-assisted motor acts on the steering output shaft through a worm gear reducer to realize the power-assisted steering function.
The method for monitoring the electric power steering stuck according to the embodiment of the present invention is applicable to a vehicle having a C-EPS, P-EPS or DP-EPS system, and will be described below with specific examples.
Referring to fig. 1, a method for monitoring the electric power steering stuck includes, but is not limited to, the following steps:
step S100, obtaining the torque of a steering wheel, the torque of a motor, the rotor position of the motor and the rotor rotating speed of the motor;
and step 200, when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has steering clamping stagnation faults.
It will be appreciated that EPS systems typically require acquisition of a steering wheel torque signal, which may be obtained by a torque angle sensor (Torque and Angle Sensor, TAS), specifically a torque sensor that measures the steering wheel torque by detecting a relative angle of rotation of the steering wheel when the steering wheel is rotated, and a torsion bar that is different from the torque angle sensor. It should be noted that the torque angle sensor belongs to an existing sensor of the vehicle, that is, the torque signal of the steering wheel can be obtained through the existing sensor, so that no additional sensor is needed, and no additional cost is added.
In addition, the motor in the embodiment is a booster motor of the EPS system, the torque, the rotor position and the rotor speed of the motor can all adopt the existing sensors of the EPS system to acquire corresponding signals, for example, the torque and the rotor position signals of the motor can be acquired through the torque angle sensor, so that the rotor rotating speed can be calculated, that is, the signals of the torque, the rotor position and the rotor speed of the motor can also be acquired through the existing sensors, no additional sensing device is needed, no additional cost is increased, and the new failure mode and risk of the vehicle are avoided.
It should be noted that the problem of jamming of the worm gear is the most common failure modes of C-EPS, P-EPS and DP-EPS, and the root cause is the conversion of static friction and dynamic friction of the worm gear when the worm gear is about to move mutually, and the static friction coefficient mu is usually the same Static state Coefficient of dynamic friction mu Dynamic movement Mu, and static state Sum mu Dynamic movement Is strongly related to the meshing state of the worm gear and the worm, and mu when the lubrication of the worm gear and the worm is poor Static state And mu Dynamic movement The difference between static friction and dynamic friction is larger, and DeltaF= (mu) Static state -μ Dynamic movement ) N (N is positive pressure) becomes large, thereby creating a problem of sticking.
After the obtained signals of the torque of the steering wheel, the torque of the motor, the rotor position and the rotor rotating speed are used as judging conditions for judging whether the EPS system meets the clamping stagnation threshold value, so that the problem of steering clamping stagnation can be identified.
It is understood that the torque of the steering wheel increases gradually with the steering operation of the driver when the driver turns the steering wheel; the TAS sensor applies steering wheel torque T d Transmitting the torque to an EPS controller, and driving the motor to output motor torque T by the controller through a control strategy m And with steering wheel torque T d Gradually increasing.
Referring to fig. 2, a change in steering wheel torque, a change in motor rotor position, a change in motor torque, and a change in motor rotor speed are shown in fig. 2. It can be appreciated that due to the presence of EPS system load, when the torque T of the motor m When the assistance provided is insufficient to overcome the load, the motor does not rotate, i.e. the rotor position θ of the motor m And rotor speed omega of the motor m Almost unchanged, as shown by the part to the left of the dotted line in fig. 2.
With motor torque T m When the power provided by the motor just can overcome the load of the steering system, if the worm gear and the worm gear do not generate clamping stagnation at the moment, the signal is smoothly changed at the moment of the rotation of the motor, abnormal mutation does not occur, and the torque of the steering wheel is changed by delta T d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m And the/DELTAt is smaller than a first preset threshold value, which indicates that the variation value of the signal is not abnormal, and the controller does not record the fault code. The curves in the left part of the broken line in fig. 2 represent the steering wheel torque, the motor rotor position, the motor torque and the state of variation of the rotor speed during normal operation.
With motor torque T m When the power provided by the motor just can overcome the load of the steering system, if the worm gear and the worm are stuck at the moment, the signal is suddenly changed and abnormal mutation occurs at the moment of the rotation of the motor. Specifically, the steering wheel torque changes Δt d Motor rotor position change Deltaθ m Motor torque change Deltat m Variable/Δt and rotor speed of an electric machine△ω m And if at least one of the/[ delta ] t values exceeds a first preset threshold value, judging that the electric power steering system has steering jamming faults.
With continued reference to FIG. 2, it will be appreciated that Δt may be expressed as the time interval between the current time and the last time, and also as the change in steering wheel torque Δt over a short period of time d the/DELTAt is expressed as a torque variation value of the steering wheel at the DELTA t time, and the rotor position of the motor varies by DELTA theta m The/[ delta ] T is expressed as a change value of the position of the rotor at the time delta [ delta ] T, and the torque of the motor changes by delta [ delta ] T m the/DELTAt is expressed as a torque variation value of the motor in the DELTA t time, and a rotor speed of the motor varies by DELTA omega m the/DELTAt is expressed as a variation in the rotor speed of the motor over the DELTA t time.
Specifically, deltaT d 、△θ m 、△T m 、△ω m The corresponding parameter variation amounts are respectively divided by time, which is equivalent to the problem about time gradient, and as can be understood by referring to fig. 2, the time is the abscissa, and the parameter variation amount is the ordinate; the larger the slope, the faster the proving parameter changes; the slope cannot exceed a certain threshold under the normal running state; if the slope exceeds a certain threshold, a steering stuck fault is considered to have occurred.
When an abnormal abrupt change occurs, the steering wheel torque changes by DeltaT d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m The/. DELTA.t will produce an abnormal amount of change simultaneously, thus by monitoring the. DELTA.T d /△t、△θ m /△t、△T m /(Deltat and Deltaω) m One of the/[ delta ] t values exceeds a first preset threshold value, namely indicating that the EPS system has steering jamming faults; of course, it can be determined that there is a problem of steering stuck when two, three, or all of them exceed the first preset threshold.
Referring to fig. 2, the change Δt is due to the steering wheel torque d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m And/. DELTA.t represents different amounts of change, respectively. As shown in fig. 2, when the problem of steering sticking occurs, the instantaneous variation of the rotor speed of the motor is largest and the instantaneous variation of the motor torque is smallest. Therefore, the first preset threshold value corresponding to the different variation amounts is also different, and the first preset threshold value is also called a stuck threshold value, that is, the steering wheel torque variation Δt d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω m Each of the/. DELTA.t values has a different stuck threshold, e.g., a first preset threshold value corresponding to a steering wheel torque change of 0.2Nm/s, i.e., when the steering wheel torque change DeltaT d When the/. DELTA.t exceeds 0.2Nm/s, it is determined that a steering stuck fault has occurred.
It should be noted that, the first preset threshold corresponding to the variation of each parameter may be a set threshold of the monitoring algorithm, and in the actual application process, the setting of the clamping stagnation threshold needs to be performed in combination with different EPS systems or vehicle types, which is not further limited herein.
In some embodiments, after the step of determining that the electric power steering system has a steering stuck fault, the method further comprises the steps of:
and step S300, controlling to generate a clamping stagnation fault code, and uploading the clamping stagnation fault code to a cloud database.
It can be appreciated that when the embodiment of the invention determines that the EPS system has the problem of jamming, the embodiment of the invention generates the relevant fault code and uploads the fault code to the cloud database through the vehicle, thereby facilitating the analysis of the problem of jamming.
Referring to fig. 3, fig. 3 shows a flowchart of a monitoring method according to an embodiment of the present invention, and the monitoring method for the worm and gear jamming problem based on the EPS internal signal according to the embodiment of the present invention uses a steering wheel torque signal T d Rotor position signal θ of motor m Torque signal T of motor m And rotor speed signal omega of electric machine m Whether the EPS system has the problem of steering clamping stagnation is comprehensively judged, the problem of steering clamping stagnation can be accurately identified, and the fault identification rate is improved; when steering jamming fault exists, control to generate jamming faultThe code is used for uploading the stuck fault code to a cloud database, so that the stuck problem can be conveniently analyzed, and the code is used for providing basis for fault statistics analysis by designers; the implementation process of the method does not need to additionally design a sensor, but monitors the clamping stagnation problem of the steering system through the existing signals of the EPS motor and the TAS sensor, so that the method does not increase extra cost, avoids the new failure mode and risk of the vehicle, and is suitable for the C-EPS, the P-EPS and the DP-EPS systems.
Referring to fig. 4, in some embodiments, the method for monitoring the electric power steering stuck includes, but is not limited to, the following steps:
step S110, obtaining the torque of a steering wheel, the torque of a motor, the rotor position of the motor and the rotor rotating speed of the motor;
step S210, when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that a steering clamping stagnation fault exists in the electric power steering system;
step S310, judging the perception state of a driver according to the current torque of the steering wheel;
step S311, when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that the driver is in a perception state, and generating a first clamping stagnation fault code;
step S312, when the current torque of the steering wheel is smaller than a second preset threshold value, the driver is judged to be in a non-perception state, and a second clamping stagnation fault code is generated.
It will be appreciated that the steering wheel torque variation T is used when a steering stuck problem is detected in the EPS system d And the judgment condition is used for representing whether the driver perceives steering clamping stagnation. Specifically, taking the second preset threshold value of 0.4Nm as an example, when T d When the error rate is more than or equal to 0.4Nm, judging that the system has a clamping stagnation problem which can be perceived by a driver, and generating a fault code of 0X010a by the controller at the moment; otherwise, judging that the system has the problem of jamming which is not perceived by a driver, generating a fault code 0X010b by the controller, uploading the fault code to a cloud database, and finally providing a basis for the fault statistical analysis by a designer.
It will be appreciated that both the driver perceived and imperceptible states generate fault codes, the running state of the overall system can be monitored by uploading the fault codes, and the risk condition of the fault can be assessed by identifying the form of the fault, for example, if the vehicle has a plurality of imperceptible states, further judging whether there is an increasing trend by paying attention to the frequency of the imperceptible states, for example, 500 times has just started, the driver is not aware all the time, and then the imperceptible states increase continuously, at this time the problem of steering stuck can be considered to be worsened. Therefore, by the monitoring method, background data can be established for statistics, the stability of the system is integrally evaluated, and the vehicle is convenient to maintain and maintain.
The embodiment of the invention also provides an electric power steering system, which comprises a steering wheel, a motor and a controller, wherein the controller is configured to acquire the torque of the steering wheel, the torque of the motor, the rotor position of the motor and the rotor rotating speed of the motor; and when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has steering clamping stagnation faults.
As can be understood from fig. 3, the motor in the embodiment is a booster motor of the EPS system, and the controller is an EPS controller, and signals of torque, rotor position and rotor speed of the motor can also be obtained through existing sensors. After the obtained signals of the torque of the steering wheel, the torque of the motor, the rotor position and the rotor rotating speed are used as the signals for judging whether the EPS system meets the clamping stagnation threshold judgment condition, so that the problem of steering clamping stagnation can be identified.
Referring to fig. 2, when the driver turns the steering wheel, the TAS sensor turns the steering wheel torque T d Transmitting the torque to an EPS controller, and driving the motor to output motor torque T by the controller through a control strategy m And with steering wheel torque T d Gradually increasing. When the torque T of the motor is equal to the torque T of the motor due to the existence of the load of the EPS system m When the assistance provided is insufficient to overcome the load, the motor does not rotate, i.e. the rotor of the motorPosition theta m And rotor speed omega of the motor m Almost unchanged.
With motor torque T m When the power provided by the motor just can overcome the load of the steering system, if the worm gear and the worm gear do not generate clamping stagnation at the moment, the signal is smoothly changed at the moment of the rotation of the motor, abnormal mutation does not occur, and the torque of the steering wheel is changed by delta T d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m And the/DELTAt is smaller than a first preset threshold value, which indicates that the variation value of the signal is not abnormal, and the controller does not record the fault code. The curves in the left part of the broken line in fig. 2 represent the steering wheel torque, the motor rotor position, the motor torque and the state of variation of the rotor speed during normal operation.
With motor torque T m When the power provided by the motor just can overcome the load of the steering system, if the worm gear and the worm are stuck at the moment, the signal is suddenly changed and abnormal mutation occurs at the moment of the rotation of the motor. Specifically, the steering wheel torque changes Δt d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m And if at least one of the/[ delta ] t values exceeds a first preset threshold value, judging that the electric power steering system has steering jamming faults.
When an abnormal abrupt change occurs, the steering wheel torque changes by DeltaT d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m The/. DELTA.t will produce an abnormal amount of change simultaneously, thus by monitoring the. DELTA.T d /△t、△θ m /△t、△T m /(Deltat and Deltaω) m One of the/[ delta ] t values exceeds a first preset threshold value, namely indicating that the EPS system has steering jamming faults; of course, it can be determined that there is a problem of steering stuck when two, three, or all of them exceed the first preset threshold.
The EPS system provided by the embodiment of the invention can be specifically C-EPS, P-EPS and DP-EPS systems, and is based on a steering wheel torque signal T d Rotor position signal θ of motor m Torque signal T of motor m And rotor speed signal omega of electric machine m Whether the EPS system has the problem of steering clamping stagnation is comprehensively judged, the problem of steering clamping stagnation can be accurately identified, and the fault identification rate is improved; when a steering jamming fault exists, controlling to generate a jamming fault code, and uploading the jamming fault code to a cloud database, so that the jamming problem can be conveniently analyzed, and a basis is provided for fault statistics analysis by a designer; and the problem of clamping stagnation of the steering system is monitored by the existing signals of the EPS motor and the TAS sensor without additionally designing a sensor, so that the additional cost is not increased.
Referring to fig. 2, it can be understood that the EPS system can be executed, and can determine the torque change Δt of the steering wheel from the present time and the last time d Motor rotor position change Deltaθ m Motor torque change Deltat m /(Δt) and rotor speed variation Δω of the motor m And the method can judge whether the steering clamping stagnation problem exists or not, has high identification accuracy and avoids the situation of misjudgment.
In some embodiments, the controller is further configured to determine a perceived state of the driver based on a current torque of the steering wheel; when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that a driver is in a perception state, and generating a first clamping stagnation fault code; and when the current torque of the steering wheel is smaller than a second preset threshold value, judging that the driver is in an unaware state, and generating a second clamping stagnation fault code.
It will be appreciated that the steering wheel torque variation T is used when a steering stuck problem is detected in the EPS system d And the judgment condition is used for representing whether the driver perceives steering clamping stagnation. Specifically, taking the second preset threshold value of 0.4Nm as an example, when T d When the error rate is more than or equal to 0.4Nm, judging that the system has a clamping stagnation problem which can be perceived by a driver, and generating a fault code of 0X010a by the controller at the moment; otherwise, the system is judged to have the problem of jamming which is not perceived by the driverThe controller generates a fault code 0X010b, and uploads the fault code to the cloud database, and the fault code is finally used for providing basis for the fault statistical analysis by the designer.
In addition, an embodiment of the present invention further provides a vehicle controller, including: at least one processor; and a memory storing instructions that, when executed by the at least one processor, perform the electric power steering stuck monitoring method of the above-described embodiments.
The processor and memory in the vehicle controller may be connected by a bus, for example. The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk memory, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the control processor, which may be connected to the controller via a network.
The non-transitory software program and instructions required to implement the monitoring method of the above-described embodiments are stored in the memory, and when executed by the processor, the monitoring method of the above-described embodiments is performed, for example, the method steps S100 to S200 in fig. 1, the method steps S110 to S312 in fig. 4, and the like described above are performed.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The embodiment of the invention also provides a vehicle, comprising the method for monitoring the electric power steering clamping stagnation or the vehicle controller. The vehicle may be a private car such as a sedan, SUV, MPV, or a pick-up card. The vehicle may also be an operator vehicle such as a minibus, bus, minivan or large trailer, etc. The vehicle can be an oil vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, the vehicle can be a hybrid vehicle or a pure electric vehicle.
The vehicle adopts the vehicle controller to execute the monitoring method of the electric power steering jamming, when the change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, the situation that the electric power steering system has the steering jamming fault can be judged, the problem of the steering jamming can be accurately identified, the fault identification rate can be improved, the jamming problem can be conveniently analyzed, the method is used for providing basis for the fault statistics analysis by a designer, and the method is suitable for systems such as C-EPS, P-EPS, DP-EPS and the like.
Because the vehicle adopts all the technical schemes of the vehicle controller in the above embodiments, the vehicle controller at least has all the beneficial effects brought by the technical schemes in the above embodiments, and the description thereof is omitted.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of one of ordinary skill in the art.
Claims (10)
1. The method for monitoring the clamping stagnation of the electric power steering is characterized by being applied to an electric power steering system, wherein the electric power steering system comprises a steering wheel and a motor, and comprises the following steps of:
acquiring the torque of the steering wheel, the torque of the motor, the rotor position of the motor and the rotor rotating speed of the motor;
and when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has a steering clamping stagnation fault.
2. The method of monitoring electric power steering stuck as set forth in claim 1, wherein the acquiring the torque of the steering wheel, the rotor position of the motor, the torque of the motor, and the rotor speed of the motor includes:
determining a torque variation value of the steering wheel according to the torque of the steering wheel at the current moment and the torque of the steering wheel at the last moment;
determining a torque change value of the motor according to the torque of the motor at the current moment and the torque of the motor at the last moment;
determining a rotor position change value of the motor according to the rotor positions of the motor at the current moment and the last moment;
and determining a rotor speed change value of the motor according to the rotor speeds of the current moment and the last moment of the motor.
3. The method for monitoring steering sticking in an electric power steering system according to claim 1, wherein after the determination that the steering sticking fault exists in the electric power steering system, further comprising:
and controlling to generate a clamping stagnation fault code, and uploading the clamping stagnation fault code to a cloud database.
4. The method for monitoring steering sticking in an electric power steering system according to claim 1 or 3, wherein after the determination that the steering sticking fault exists in the electric power steering system, further comprising:
judging the perception state of a driver according to the current torque of the steering wheel;
when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that a driver is in a perception state, and generating a first clamping stagnation fault code;
and when the current torque of the steering wheel is smaller than a second preset threshold value, judging that the driver is in a non-perception state, and generating a second clamping stagnation fault code.
5. An electric power steering system comprising a steering wheel, a motor, and a controller configured to obtain a torque of the steering wheel, a torque of the motor, a rotor position of the motor, and a rotor speed of the motor; and when a change value of at least one of the torque change of the steering wheel, the torque change of the motor, the rotor position change of the motor and the rotor speed change of the motor exceeds a first preset threshold value, judging that the electric power steering system has steering jamming faults.
6. The electric power steering system of claim 5, wherein the controller is further configured to,
determining a torque variation value of the steering wheel according to the torque of the steering wheel at the current moment and the torque of the steering wheel at the last moment;
determining a torque change value of the motor according to the torque of the motor at the current moment and the torque of the motor at the last moment;
determining a rotor position change value of the motor according to the rotor positions of the motor at the current moment and the last moment;
and determining a rotor speed change value of the motor according to the rotor speeds of the current moment and the last moment of the motor.
7. The electric power steering system of claim 5, wherein the controller is further configured to control generation of a stuck fault code and upload of the stuck fault code to a cloud database.
8. The electric power steering system according to claim 5 or 7, wherein the controller is further configured to determine a perceived state of a driver based on a current torque of the steering wheel; when the current torque of the steering wheel is larger than or equal to a second preset threshold value, judging that a driver is in a perception state, and generating a first clamping stagnation fault code; and when the current torque of the steering wheel is smaller than a second preset threshold value, judging that the driver is in a non-perception state, and generating a second clamping stagnation fault code.
9. A vehicle controller, characterized by comprising:
at least one processor;
and a memory storing instructions that, when executed by the at least one processor, perform the method of monitoring electric power steering stuck as set forth in any one of claims 1 to 4.
10. A vehicle comprising an electric power steering system as claimed in any one of claims 5 to 8 or a vehicle controller as claimed in claim 9.
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