TWI314114B - - Google Patents

Description

1314114 · Nine, invention description: [Technical field of invention] The present invention is a plug-in M / kind of auxiliary steering control system, assisting the car steering 'to let the driver in each: the other is about a kind of steerable or stable steering wheel control system . ‘Getting help in the car situation L 尤 筏 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 】 Electric auxiliary steering system (the standard performance and characteristics of the power square car are slightly different in the slightest difference, which is similar to the same. Generally, the applied principle and effect are the same as the driver's wheel torque as the motor output: The system only consists of the car's fandom, steering angular velocity and steering angular acceleration. For the steering angle system, under certain conditions, the driver's operation is heavy. The correction control is called the "vehicle auxiliary control device". The announcement number is 2. _7 weight 6^ Only control the patent's basis for damping, friction and inertia. The driver is specially assisted to turn the motor wheel..,. Two specials are still in the condition of y. : Sense of feeling "The whole list, the aforementioned vehicle control:: In the poor auxiliary steering system, although the ability to achieve justice or traditional electric has the following disadvantages: 4 J疋 steering assist performance, but still: wide assist steering If the compensation input test signal is not completed, there will still be a bad operational experience under the component. Some special 1 4 compensation logic and (4) signal itself is limited by 5 mesh 4 1314114, the electric auxiliary steering system can not turn Auxiliary feedback, μ this stick ~ shape or driving state to carry out the Bay; a second special driving}} can be under / at the place, after the raised sound, ... For example, through the depression to the Μ ^ Ί temple, the system can not provide the driver ·^ has μ to assist and correct function. 'Im there is 4 turn [invention content] In order to solve the above-mentioned electric-assisted steering car perfection, the true 5 "shi system" because the compensation judgment logic is not enough heavy hand feeling and benefit method (four)... When the steering wheel is still used, it will still feel the problem of feedback compensation for the lampgage status. This month is a power-assisted steering control system, which includes: - drive module, _ _ set time wheel a steering wheel connection, and a special 'knowledge torque to assist the steering wheel to rotate; - processing module, which is connected to the smart car and the side, and according to a row of steering wheel output state - gain control of the drive module, The driving cymbal group can assist the steering wheel to rotate; the current sensor, the JL wheel smashing the mountain? # Br_去.u* taking the electrical connection of the driving module, the reading module; and ^ And pass the operation current signal To the disc: the sense sensing module 'which senses the rotational torque of the steering wheel, the angle of rotation of the disk, the driving speed, the braking command and the four wheel speed, and its processing module; ^ raw connection, The sensor transmits the signal to the crying station. The processing module executes a steering angle angular acceleration computing unit and a direction 5 1314114 disk angular velocity computing unit according to the driving condition sensing module and the current sensing special signal. , q & „ a reaction force calculation unit, a basic auxiliary control sequence, a positive compensation for the 1st control logic, a damping compensation control logic, – inertia compensation control logic, a *1 patching j controller control logic And the result of the operation of a puncture compensation control logic, οα Dan sends the result of the difference to a motor control unit to perform the total operation, & h, τ

And outputting the gain to the driving module to assist the rotation of the steering wheel; D

The vehicle condition sensing module-the steering wheel torque sensor is connected, and the steering wheel is sensed and transmitted to the processing module; and includes: 'the torque of the output end and the processing module is electrical and the torque is The output terminal of the moment signal is electrically connected to the processing module, and the driving speed signal is transmitted to a vehicle speed sensor, where the sensing speed of the 6-car driving speed production module is sensed;

Connecting, the control module, a steering wheel angle sensor, sensing the rotation of the steering wheel, its output end and the processing module electrical angle and transmitting the corner signal thereto

The output end of the illusion ^ 1 is electrically connected to the processing module, which senses the 敔|人八^ i ΓW module of the car; and the electrical connection of the sorrow to the four-wheel speed sensing The output end of the device is coupled to the processing module, which senses the rotational wheel speed of each wheel of the automobile and processes the rotating wheel speed processing module; wherein, the driving module includes the wheel-in end of the motor driver and the motor-driver The driver and a motor are electrically connected, and the output end of the motor drive 6 1314114 is electrically connected to the motor. Generally, the 3 Hai motor can drive the direction ^ 'where, when the processing module is based After the squid, Hf urine ° hai car / brother sensing module and the current sense of the benefit of the round-out signal operation, the round H each rebelled the gain to the motor driver, so that (four) driver drives the motor to assist the The steering wheel rotates. r :: This month's processing pull group can perform a variety of compensation arithmetic logic 'mother one compensation operation logic's input ^: b ^ bucket j into the parameters, the operating conditions are not the same, the discussion / flying even when encountering different pills The situation of the J can be used to control the steering wheel with the torque of the animal, which reduces the operational discomfort and dangerous operation of the low bird. [Embodiment] Please refer to the first figure, which is a preferred embodiment of the "ric power steering" system, which includes a process X: 10) and a vehicle condition sensing module ( 2 (Π, - drive module (30) and a current sensor (.Q n N 4 u ), wherein the vehicle condition sensing module has an output connected to the processing module (1 〇), The input end of the driving mode 2 is connected to the processing module (10), and the current sensing state (4 0 ) $ # λ * mountain & n, the input and output terminals respectively and the driving module (3 〇) And the processing module (1 〇) connection. ° month reference to the second picture, the processing mode. „ Bao Zu (1 0 ) can be based on different driving and steering wheel rotation can protect the heart. (3 0 ), which can be one of the eight single driving controls ^ ^ _ _ electric substation - connected to the driving control computer electric cymbal, and, a sea driving and steering wheel turn. Le state contains a brake speed , a brake command, a steering wheel - the steering wheel angle and the wheel of the four wheels 1314114 speed and other driving status related to steering wheel rotation The processing module (i 〇) is the steering wheel power of the preferred embodiment, which receives the vehicle condition reduction module (2: the output signal of the auxiliary function (4 0) of the assist function] Connected: the slider angular acceleration calculation unit, - 旒 executes a steering force calculation unit, - basic auxiliary = angular velocity calculation unit, - reaction-damping compensation control logic, a 1 1 series, - positive compensation control logic, and - The result of the puncture compensation control logic... The motor control arithmetic unit performs the summation: the operation will be upgraded, and the round-out gain will be transmitted to the drive module (3〇,). A round of increase and increase of the vehicle condition sensing module will be generated. 2 〇) includes group (1 0 ) connection - Gu Yujia, 'and knife and the processing mode sensor (2 4), a Gu ° torque sensor (2 2), a speed command sensor (2 8 ), the disc angle sensor (2 6 ), the brake wheel D 8 ) and a four wheel speed sensor (2 9 ); against this side: the general disc torque sensor (2 2 ), the speed sensor (2 4 ):, two and; the angle sensor (26), the brake command sensor (28) rotation = sensor (29) The sensing of the car steering wheel is the local torque, the K driving speed, the steering wheel rotation angle, the brake contact and the individual speeds of the four wheels of the car. Among them; or 1 Μ ° (2 4 ) can be one The electronic sensing component of the driving speed of the car, the rotation, Zhu Yijun's traditional (four) method 'for example, using the wheel speed, the gear wheel speed... the speed of the vehicle is calculated. - The horse 7 moving module (3 〇) contains a motor The driver (3 2 ) and the ', , (34), the input end of the motor driver (32) is electrically connected to the 8 1314114 control module (1 〇), and the input end of the motor (3 4 ) The motor driver (32 is connected) wherein the bird (34) is coupled to the steering wheel of the vehicle, which can impart the steering wheel/specific torque to assist in steering the steering wheel. In this way, the processing module (1 〇) can be adjusted to the output of the motor driver (32) according to the driving and steering wheel rotation, and the motor (34) can be further adjusted to provide assistance for the steering of the steering wheel. Output. The input end of the current sensor (40) is electrically connected to the motor (34), which senses the operating current of the motor (34), and transmits the sensing result to the processing module (iQ) ). The working current of the motor (34) is associated with the rotating state of the steering wheel, so that the processing module (10) can obtain the instantaneous working state of the motor (3 4) and the steering wheel according to the working current, When the steering wheel or the motor (3 4) is subjected to an emergency (such as a puncture, impact, _, etc.) due to the vehicle driving, changing the squamous cancer '%' will cause a slight change in the working current. The processing module (10) can adjust the output of the driving module (3 〇) in time to further stabilize the driving state of the vehicle. To further explain the processing mode (false, 'and (1 〇 Receiving the relationship between the vehicle condition sensing module (20) and the current measuring crying f/n, ^, 0^(4 ◦) and the transmission to the driving core group (30) And the processing module (i 〇) executable steering wheel angular acceleration calculation unit ^ steering wheel angular velocity computing unit, reaction force computing unit, its station t < also open early basic auxiliary control logic, positive compensation compensation logic Damping compensation control logic Compensation control logic, defending compensation control logic, and puncture compensation control function of different operations of the logic k series temple, 9 1314114 Please refer to the third to fifteenth figure, where ·· The basic auxiliary control logic is operated, according to The steering wheel torque sensor is the processing module (the output of the icn, 八, eight), and the speed sensor (2 4), respectively, through different non-line u 4 ). The signal is converted to - Gain. The relationship between the detected and the transmitted torque sensor (2 2 丨 & |% of the gain and the relationship between the party, the 匕 j and the speed of the car, respectively, as shown in the third figure And the output of the first (24) shown in the fourth figure is the positive compensation control logic, which is the steering wheel angle sensor (26): two J: (10) according to the speed calculation unit, the processing module (丄^ = steering wheel angle plus = corner, torque and speed. = motor control unit (3 ·,. fruit to reach. The main purpose of the calculation is to help the positive compensation control logic line m The driving dynamics of the car to the straight Asian change „the stability of the body in the return process. The moment and the speed are used as Whether to start the returning ^: to the torque of the disk, the torque and the speed of the vehicle, the basis of the logic, when the upper group (1 〇) is 1 , W ( υ , (1 hour' the processing mode

Tdriver < Τ,. ^vehicle ^ ^re ) is responsible for this positive compensation control logic operation. 10 1 where,

Tdriver is the steering wheel torque, ·

Tre is the torque threshold for starting the compensation control logic; V v e h i c丨e is the vehicle speed, and vre is the vehicle speed threshold for the positive compensation compensation logic. In 1314114, the side back positive compensation control logic is added to the angle of the gain and steering wheel, the steering wheel angle and the speed of the steering wheel, and the seventh figure. ^ Relationships Do not follow the fifth and sixth directions. The calculation of the steering wheel angular acceleration is as follows: Θ 峨琳-1) ~~ where, each is the steering wheel angular acceleration; Θ is the steering wheel angle; τ is the sampling time; k is the time The horizontal axis of the fifth figure represents the steering wheel. Taking the preferred embodiment as an example, the first vertical axis represents the gain, the disk rotates counterclockwise, and the third P艮 represents the reverse (the third door of the direction gates) 4 quadrants represent forward rotation. The damping compensation control logic is the processing mode of the steering wheel angle sensor (2 6 . _ 〇) according to the production and transportation _ — output signal through the steering wheel angular velocity... change the nose After getting the angular velocity of the steering wheel, the ugly sensor (2 2 ), the speed sensing 1 ( 2 4 ): the rim of the 22nd angle sensor (2 Θ) and the direction + x The gain is formed by the communication. The direct and the torsional moments respectively satisfy the following formula (4), (1), and the speed of the vehicle is compensated by the control logic operation to generate the gain: , &gt; execution of the resistance T^er &lt;Tda (4 )

KeIMe&gt;Vda (5) where 11 1314114

Tda is the torque threshold value of the damping compensation control logic;

Vda is the vehicle speed threshold for the damping compensation control logic. The angular velocity of the steering wheel of the damping compensation control logic can be obtained by the formula (6). θ (ki) = (e (8) - one (ki)) / T (6) where one is the steering wheel angular velocity; one is the steering wheel angle ; τ is the sampling time; k is the time step. As shown in the eighth figure, 'When the steering wheel angle is larger, the damping compensation control logic = S Μ negative number increases nonlinearly. The damping compensation control logic starts - the vehicle speed is greater than its set value (vda), and the steering wheel torque value is small. ^^ jMl -^a. hh. # ^," sigh value (Tda), the control of the damping compensation control logic is performed.

In the compensation control logic, it compensates the driver to turn the steering wheel only:: Shaanxi has a heavy hand feeling stomach, due to the traditional inertia compensation logic value 疋: according to the angular acceleration of the steering wheel to adjust the inertia compensation output gain parameter as inertia compensation The control logic operation enters the vehicle speed two =: the result of the disc angular acceleration operation unit, and cooperates with &quot; 4) and the steering wheel angle sensor (2 6 );: forms an output gain, where the gain is related to the vehicle speed respectively As shown in the tenth and eleventh figures. (10) Corner 12 1314114. Hai impact compensation control logic 4): The steering wheel angle sensor = number includes the speed sensor (2 degree transport unit and reaction force calculation Cui output and steering wheel angle catch the puncture compensation control logic = 7 results and output The gain. Sensing; ("), the car catch = including the steering wheel force (2 6), the brake command sensing crying (2 s; Hai steering wheel angle speed sense (2 g) and 兮 2 8) The output of the 'impact compensation control logic and 〇' in the four wheel. The sensors of the sensor wheel '$Q?' 仏 control logic is integrated with the condition number of the object, and the vehicle is judged to be the processing module ( Work 〇) Various conditions on the road, 丄u) According to different driving groups (30), the driving mode is controlled by the auxiliary floc soap condition. Among them, the impact compensation, the driving of the speeding The bumps of the safe and comfortable road 2 are for the car to be driven on the road due to the interference of the bumps or the concave (four) tires, which will cause the impact force to turn the car or make the driver feel uncomfortable; Hengxin, the main hitter When the vehicle is moving at low speed, its work « # 4 ? Conditions such as formula (7), (8) (7) (8) ^vehicle ^

KTR(k)-TR(k-l))/t|&gt; I where v e h i c 〗 e is ,

Vl is a critical setting value of the vehicle speed;

Tr is the reaction force of a steering column of the steering wheel for the road surface; I is the critical setting value of the time-varying rate of the steering column reaction force; t is the sampling time; 13 Sichuan 4114 k is the time step; “Where, when the vehicle speed (V ,...) is lower than H_#r (as shown by the formula (?)), - bound, and depreciation (Vi) reaction force (1) and its time-varying rate heart = steering wheel - steering :: logic is the reference The relationship between the twelve figures; (2: the impact compensation control 12 map is the best implementation of the ρ increase, for example, the first tire on the road car when driving on the road, the left wheel, the upper road surface Reaction or side wheel

The change situation. Among them, the reaction force R and the vehicle speed (the U unit is calculated from the steering wheel torque and the steering wheel "R) system, and the reaction force is calculated. In the first step, the auxiliary M + π speed and the auxiliary torque are used. Snow, * bucket -, get. As shown in the following formula (9). * "How to calculate the signal of the detector

Tdriver + Tassist + Tr = j · - ( 9) where,

TdHver is the torque of the steering wheel; the auxiliary torque of the U motor (34) output; J is the rotational inertia of the steering column; and the angular acceleration of the steering wheel. In addition, the puncture compensation control logic is driven by the car rim gas amp &amp; ± &; 要 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 解决 1 1 1 1 The problem of abnormal driving and the driver's quickness due to fright. , "The steering wheel and other conditions lead to the puncture compensation control logic spear, the innocent J face · the reaction of the above formula (10) and the following formula (1)): (7) force TR 满足 meet ^vehicle ~ ( 1 〇) 14 1314114 JAk )-TR(k-\) t

)&gt;B (11) where V2 is the vehicle speed critical set value of the puncture compensation control logic; 1 〇) (11) are satisfied, then the wheel speed of each tire is compared with the vehicle speed as shown in the following formula (12) : , vehicle ^wheelj &gt;F,ζ· = 1,2,3,4 ( η) where,

Vwheel, i is the wheel speed of a specific tire; F is the critical setting of the difference between the vehicle speed and the specific tire speed; or, the average of the four wheel speeds can be compared with each wheel speed, as shown in the following formula (13) Shown: max(ave(Fv)^ge/) - Fw/)ee/.) , / = 1^2,3,4 (13) where ave(Vwheel) is the average wheel speed of the four tires; G For the critical set value of the wheel speed difference; if the A formula (12) or the formula (丨3) is established, then the processing module (1 〇) is indeed 6 to be &amp; the car has a puncture, which is immediately from the vehicle condition The sensing module (2 〇) and the current sensor (4 〇) detect a signal such as a vehicle speed, a brake command, a steering wheel angle, a motor operating current, and a four-wheel speed, and perform a puncture compensation control logic operation (eg, The fourteenth figure shows that the gain is transmitted to the motor control arithmetic unit and the drive module is output and controlled to compensate and prevent the driver from panning excessively turning the steering wheel due to a puncture. As shown in the fifteenth circle, it is a change in the four-wheel speed, the vehicle speed, and the reaction force when a car puncture or rapid air pressure leaks. 15 1314114 BRIEF DESCRIPTION OF THE DRAWINGS The first drawing is a block diagram of a preferred embodiment of the invention. The second figure is a logical block diagram of a processing module according to a preferred embodiment of the present invention. The third diagram of the implementation of the present invention is a relationship between the steering torque and the gain of the basic auxiliary control logic of one of the preferred embodiments of the present invention.

The fourth figure is a diagram of the relationship between the basic auxiliary control logic and the vehicle speed and gain in accordance with a preferred embodiment of the present invention. The fifth figure is a diagram of the relationship between the angular acceleration of the steering wheel and the gain of the positive compensation control logic of one of the preferred embodiments of the present invention. Figure 6 is a diagram showing the relationship between the steering wheel rotation angle and the gain of the positive compensation control logic of the preferred embodiment of the present invention. The seventh diagram is a diagram of the relationship between the return speed compensation control speed and the gain of the preferred embodiment of the present invention. FIG. 8 is a diagram showing the relationship between the steering wheel angle and the gain of the preferred embodiment of the present invention. FIG. 9 is a diagram showing the relationship between the damping speed and the gain of the damping compensation control according to the preferred embodiment of the present invention. The tenth figure is the relationship between the speed and the benefit of the 补偿-compensation control logic of one of the inventions. The tenth figure of the evening is the inertia compensation control logic of the preferred embodiment of the present invention: the relationship between the disk rotation angle and the gain. The "Dance Dance" is a diagram of the relationship between the impact compensation and the puncture compensation control logic of the preferred embodiment of the present invention. 16 1314114 The reaction force and the vehicle speed when the surface is convex or concave. The fourteenth figure is the steering wheel angular acceleration and the gain of the steering compensation control logic of the preferred embodiment of the present invention. A diagram of a preferred embodiment of the invention. The diagram shows the change of the wheel speed of the air pressure fast a leak, ▲ π | tire or tire, and the reaction force.

[Main component symbol description] (1 〇) processing module (2 〇) vehicle condition sensing module (2 2) steering wheel torque sensor, 2 4) vehicle speed sensor 2 6) steering wheel angle sensor 2 8 ) Brake Command Sensor 2 9) Four Wheel Speed Sensor

Figure 13 is a schematic diagram of a preferred embodiment of the present invention. Brake travel path 3 〇) Drive module 3 2) Motor drive 3 4) Motor 4 0) Current sensor 17

Claims (1)

1314114 X. Patent Application: 1. A power-assisted steering control drive module, with a car:, 'First, it contains: a specific moment to output a certain moment: steering wheel connection, and a special-processing mode Group, 苴盥μ steering wheel rotation; car and steering wheel rotation state connection, and according to the -action module can assist the steering wheel rotation; the current drive system, the group 'make the drive-current sensor, take it The operation of the driving module is to activate the electrical connection, the reading module; and the U transmits the operating current signal to a driving condition sensing module, the angle of rotation of the disk, the driving speed, * The wheel end is connected to the processing module f-speed 4, the processing module; the sub-sensing signal is transmitted to the device, the processing module is based on the vehicle sensing module and the current sensing V 5 Tigers perform a steering angle acceleration calculation unit, a side angle speed calculation unit, a reaction angle system, and Luo #. ~ Reaction force difference is early, - basic auxiliary control π k ear, - positive compensation control logic, a damping compensation control logic 'a j-compensation control logic and a shock compensation control logic and - burst tire compensation = control logic The result of the operation is then sent to the motor control unit to perform a total operation, and the gain is output to the drive module to assist the steering wheel to rotate. ^ 2 · The power assisted steering control system as described in claim 1 'The vehicle condition sensing module comprises: 18 1314114 a steering wheel torque sensing connection, which senses # &amp; ^ Λ , . The output end and the processing module are electrically λ~*豕 the steering wheel is transferred to the processing module. 'Twisting torque and the torque signal. A vehicle speed sensor, reclamation. It senses the car The driving speed and the end of the driving are electrically connected to the processing module, and the control module transmits the speed signal to the steering wheel corner of the steering wheel to make the β &quot;, its wheel The outlet is connected to the processing module and φ, which senses the steering wheel, and the electrical module 丨w transmits the s-turn signal to the brake command sensing, and senses the Μ of the car. The person 1 is out of the electrical connection module with the processing module; and the 'decrease command and transmits the braking command to the four-wheel speed sensing H, where the transmission is connected, and the sensing of each wheel of the car is sensed ...Hai processing pull group electrical connection processing module. #动轮捕将将转转轮速送到3 · As in the patent application scope 2 system, the drive module comprises: an auxiliary steering control 'driver input terminal and the processing mode =:=, the motor output end and the The motor is electrically connected, and the motor driver can drive the steering wheel according to the σ hai motor system, and 1 'when the processing module senses according to the vehicle condition', Yushan%咕, 笛营α,, and 5 The vertical current sensor is shipped out of the motor 4, and the gain is output to the motor drive driver to drive the motor to assist the steering wheel to rotate.彳史s motor 4. As described in the patent specification (4) 2 or 3 of the control system, its t, auxiliary steering 19 cry f steering angle angular acceleration computing unit. . The output meter has been 哕 哕 D D Xuan steering wheel angle sensing ^ Τ '-» Xuan steering wheel rotation angular acceleration; : steering wheel angular velocity calculation unit based on the output of the steering wheel rotation angular speed;: steering wheel angle sensor the reaction force calculation According to the result of the early 7^, the unit is calculated by the &amp; ¥ t βI universal disc angular acceleration calculation and the 4 steering wheel torsion force to calculate the crease of the vehicle and the rim of the current sensor. The tire pressure is also fast reading, σ or the residual force when passing through the depression, and the reaction force of the 3 Xuan steering wheel after the protrusion. • As in the patented system, the basic auxiliary control logic calculates the ... based on the output of the power assisted steering control vehicle speed sensor. The disk torque sensor is nonlinearly proportional to the gain. g, /, the steering wheel torque and 6. As in the patent application system, the beauty of the power assist steering control 3 basic auxiliary control logic is inversely proportional. The speed of the vehicle and the gain are nonlinear. 7 · As for the system of patent application scope, the positive compensation compensation, 礓, and the description of the power-assisted steering control ^ 1 "manufacturing system is lower than the torque threshold of the processing module The set value and the ": after the critical setting value of the torque moment, according to the master, whether it is lower than a row of speed, the steering wheel angle sensing the piano to:: torque sensor, the speed sensing and the result output The gain; = and the angular inverse acceleration of the angular acceleration calculation unit, the steering wheel and the value of the value of the mh are nonlinearly proportional to the negative of the gain, and the vehicle is nonlinearly inversely proportional to the gain . 8 · The power assisted steering control 20 1314114 system as described in the patent specification Fan Fei flute, the damping compensation control logic is based on the vehicle capture sensor, the steering wheel angle sensing force sensor, the output of the arithmetic unit and the result After the operation, change two and the: the angle to the disc angular speed disc and the negative of the gain are non-linear positive two: two straight, after the direction of the two vehicle speed critical set value, the increase is too proportional. The velocity of the double/saponin is non-linear. 9. The dynamic system described in claim 4, the inertia compensation control logic (4) the power assisted steering controller, the steering wheel angle sensor, and the reference The speed sensing wheel is out and the fruit is $ &amp; $ &amp; . ^To the disc angular acceleration arithmetic unit Han,,. After the difference, the gain·^ degree is changed to be non-linear, 'the gain and the speed of the vehicle are 1〇· If the application is specific: the second I: / angle is _ proportional. System, the impact compensation logic = force-assisted steering control setting, the time-varying rate of the reaction force is greater than one 2 degrees lower than - the vehicle speed threshold is set by the vehicle speed sensor '#, ° and depreciation, the processing module Connect the arithmetic unit and the anti-disc angle sensor, the steering wheel angular velocity, the long-term reaction force is delayed, and the steering wheel is output and the result is changed. The degree is negatively proportional to the negative of the gain. System system, the power assisted steering control set value and the reverse til of the item 4 of the blasting section are higher than the speed of the vehicle, and the vehicle speed is greater than the set value. Detector, please four rounds of two::= angle sensor, the brakes and the reaction force, and the ehai steering angle acceleration calculation list, the direction of the direction of the "&quot; The gain is changed; the angular acceleration is nonlinearly proportional to the negative of the gain. 丄2. The power-assisted steering control system described in claim 1 of the patent scope, the tire burst compensation control logic compares the vehicle speed with each round of Ί The speed of the cover is different to determine the tire that has a puncture to change the gain and the specific torque of ψ, β. 0 13 The power auxiliary (4) system described in the patent scope of item 1 'revolution compensation control logic is compared with each The average private value of the round after the round, and the difference of 4 (6) (10) discriminates the 1st round speed of the puncture The tires are used to change the benefits and the specific torque of the beta. XI. Schema: As the next page. twenty two