CN100381323C - Electric booster turning system of fusing active turning function - Google Patents
Electric booster turning system of fusing active turning function Download PDFInfo
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- CN100381323C CN100381323C CNB2005100305621A CN200510030562A CN100381323C CN 100381323 C CN100381323 C CN 100381323C CN B2005100305621 A CNB2005100305621 A CN B2005100305621A CN 200510030562 A CN200510030562 A CN 200510030562A CN 100381323 C CN100381323 C CN 100381323C
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Abstract
The present invention relates to an electric booster turning system fusing an active turning function, which belongs to the technical field of automobile operating device. The electric booster turning system comprises an electronic control unit, a turning wheel torque sensor, an automobile speed sensor, a reversible permanent magnet DC motor and a current sensor thereof, wherein the turning wheel torque sensor, the automobile speed sensor, the reversible permanent magnet DC motor and the current sensor are respectively connected with the electronic control unit. The present invention is characterized in that the electric booster turning system also comprises a turning wheel angle sensor and a yaw velocity sensor which are respectively connected with the electronic control unit, wherein the sensing signals of the turning wheel angle sensor and the yaw velocity sensor are respectively input a stable control unit in the electronic control unit to increase a stable adjusting function of the force moment correction of the turning wheel, and the electric booster turning system executes active turning by depending on a booster motor. The electric booster turning system fusing active turning function can improve the operating stability of turning braking or turning accelerating automobiles which run on a separating attachment coefficient roadway under the action of strong lateral wind.
Description
Technical field
The present invention relates to the automobile operation device technique, particularly relate to a kind of electric boosting steering system (EPS) little, intermediate-size car that can be used for.
Background technology
Power steering system can improve the Combination property of handling maneuver greatly, progressively become the standard facility of vehicle, it mainly comprises hydraulic power steering system (HPS), electric-controlled hydraulic servo steering system (EHPS), three kinds of patterns of electric boosting steering system (EPS).EPS owing to fully phase out hydraulic gear make that system architecture obtains simplifying, environmental-protecting performance is better, volume is little, in light weight, the spatial destribution requirement is low, the more important thing is: only work when turning to of assist motor, system capacity consumption reduces greatly, help the car opertion economy, meet energy-conservation requirement, in addition, full electrical control also makes EPS have and is easy to control, responds characteristics such as fast and precision height.
Conventional EPS is when Vehicular turn, utilize the torque signals of torque sensor detection effect on steering handwheel, and be sent to electronic control unit (ECU), ECU receives the car speed sensor signal simultaneously, and according to the motor speed of being estimated, adopt relevant control and backoff algorithm, implement current closed-loop control, drive motor and by speed reduction gearing with certain power-assisted speed and power-assisted size to the steering swivel system power-assisted.But because control algorithm only adopts the power-assisted strategy, can not implement active steering to the requirement of road-holding property according to running conditions of vehicle, can not the maloperation that turn to of chaufeur be compensated, thereby fail to make with the performance of the closest steering swivel system of road-holding property and bring into play its maximum effect, also farthest do not bring into play the function of EPS.
Summary of the invention
At the defective that exists in the above-mentioned prior art, technical matters to be solved by this invention provides a kind of electric boosting steering system that can improve vehicle handling and stability that merges the active steering function.
In order to solve the problems of the technologies described above, a kind of electric boosting steering system that merges the active steering function provided by the present invention, comprise electronic control unit (ECU) and the hand-wheel torque sensor that connects described electronic control unit (ECU) respectively, car speed sensor and reversible permanent magnet DC motor and current sensor thereof, it is characterized in that, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit (ECU) respectively, the transducing signal of described steering wheel angle sensor and described yaw-rate sensor, import the Stability Control unit in the described electronic control unit (ECU) respectively, increase the stable regulatory function of hand-wheel torque correction, rely on reversible permanent magnet DC motor to implement active steering, with the further vehicle handling stability energy that improves.Wherein use reversible permanent magnet DC motor to be actuator, can rotate and reverse according to the steering handwheel direction.
Preferably, for the robust stability of enhanced system and obtain desirable steady state response, described control system is provided with the robust stability control module, described robust stability control module comprises feed forward control and two component parts of controlled reset, steering wheel angle (being equivalent to front wheel angle) and hand-wheel torque from steering swivel system, the speed of a motor vehicle of Vehicular system, the vehicle lateral acceleration of Vehicular yaw cireular frequency and state observer output transfers to the robust stability controller as input respectively, and robust stability controller output (power-assisted square correction) transfers to electric boosting steering system through synthetic computing as target power-assisted square with the basic power-assisted square of reversible permanent magnet DC motor output.Side direction interference effects such as beam wind force, road surface side inclination angle are in Vehicular system, in addition the wheel flutter aligning torque also retroactive effect in steering swivel system.
Utilize the electric boosting steering system of fusion active steering function provided by the invention, owing to adopt brand-new control structure and robust control algorithm except that having conventional EPS power steering function, not only can reduce the fluctuation of current of electric and steering torque, separating the adhesion value road surface to travelling, be subjected to effect of big side direction wind or inclination ground-surface vehicle to implement the active steering function, especially play certain stabiloity compensation effect for the vehicle that electronic stability device (ESP) travels under brakeing during cornereing or turning accelerating mode is housed by the EPS effect, thereby the potentiality of bringing into play steering swivel system are to greatest extent improved vehicle handling and stability;
On the basis of conventional EPS system, increase steering wheel angle and Vehicular yaw angular velocity sensor, thereby detect steering wheel angle and Vehicular yaw cireular frequency, and adopt the stronger control policy of robustness implement active steering improve travel separate the adhesion value road surface, be subjected to the effect of big side direction wind, brakeing during cornereing or the vehicle handling and stability of turning and quickening, just constituted and merged active steering and have the EPS system of part ESP compensate function.
Description of drawings
Fig. 1 is that the EPS system of the embodiment of the invention forms schematic block diagram;
Fig. 2 is the stable regulating control functional block diagram of the embodiment of the invention;
Fig. 3 is the EPS control system structured flowchart of the embodiment of the invention.
The specific embodiment
Below in conjunction with description of drawings embodiments of the invention are described in further detail, but present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar variation thereof all should be listed protection scope of the present invention in.
Referring to shown in Figure 1, a kind of electric boosting steering system that merges the active steering function that the embodiment of the invention provided, the hand-wheel torque sensor, car speed sensor and reversible permanent magnet DC motor and the current sensor thereof that comprise electronic control unit (ECU) and connect described electronic control unit (ECU) respectively, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit (ECU) respectively, wherein use permanent magnet DC motor to be actuator, can rotate and reverse according to the steering handwheel direction.
The robust stability Principles of Regulation are seen shown in the accompanying drawing 2, in the electric boosting steering system of the embodiment of the invention, described electronic control unit (ECU) is provided with robust stability control module (dotted portion among Fig. 2), comprise two parts of feed forward control and controlled reset, sight cell is used for the estimating vehicle lateral acceleration.The vehicle lateral acceleration of exporting from steering wheel angle (being equivalent to front wheel angle) and hand-wheel torque, the speed of a motor vehicle, Vehicular yaw cireular frequency and the state observer of Vehicular system of steering swivel system transfers to the robust stability controller as input respectively, and robust stability controller output (power-assisted square correction) transfers to electric boosting steering system through synthetic computing as target power-assisted square with the basic power-assisted square of reversible permanent magnet DC motor output.Side direction interference effects such as beam wind force, road surface side inclination angle are in Vehicular system, in addition the wheel flutter aligning torque also retroactive effect in steering swivel system.
Referring to shown in Figure 3, the structure of the EPS control system that the embodiment of the invention provided comprises: the transducing signal of hand-wheel torque sensor is through phase compensation unit, the power operated control cell processing, moment correction in signal synthesis unit and the output of Stability Control unit obtains basic power steering square through addition calculation, described basic power steering square transfers to motor target current unit, the transducing signal of car speed sensor transfers to described power operated control unit respectively, the Stability Control unit, the Friction Compensation unit, damping compensation unit and inertia compensation unit, the output motor rotary speed parameter of estimating the motor speed unit transfers to described Friction Compensation unit and described damping compensation unit respectively, the motor speed parameter of described estimation motor speed unit transfers to described inertia compensation unit after differentiation element is handled simultaneously, described Friction Compensation unit, described damping compensation unit and described inertia compensation unit are exported the Friction Compensation correction respectively, damping compensation correction and inertia compensation correction transfer to described motor target current unit, described motor target current unit and actual measurement current of electric unit input to current control unit respectively, described current control unit output motor drive signal; On the basis of conventional EPS controllable function, (comprise power steering control and motor friction, damping and inertia compensation control), the embodiment of the invention has been set up by steering wheel angle sensor and yaw-rate sensor and has been distinguished the transmission sensing signal to described Stability Control unit, increase the stable regulatory function of hand-wheel torque correction, rely on assist motor to implement active steering, with the further vehicle stabilization performance of improving.
The present invention can be installed in is equipped with ESP or is unkitted on the vehicle of ESP, for the vehicle that ESP is housed, it is intrinsic that additional sensor shown in Figure 1 is institute of ESP system, when exercising the ESP function, can obtain relevant sensor signals by the CAN bus, then will install related sensor additional for the vehicle that is unkitted ESP.
Claims (2)
1. electric boosting steering system that merges the active steering function, the hand-wheel torque sensor that comprises electronic control unit and connect described electronic control unit respectively, car speed sensor and reversible permanent magnet DC motor and current sensor thereof, it is characterized in that, also comprise the steering wheel angle sensor and the yaw-rate sensor that connect described electronic control unit respectively, the transducing signal of described steering wheel angle sensor and described yaw-rate sensor, import the Stability Control unit in the described electronic control unit respectively, increase the stable regulatory function of hand-wheel torque correction, rely on reversible permanent magnet DC motor to implement active steering.
2. the electric boosting steering system of fusion active steering function according to claim 1, it is characterized in that, described electronic control unit is provided with the robust stability control module, described robust stability control module comprises feed forward control and two component parts of controlled reset, steering wheel angle and hand-wheel torque from steering swivel system, the speed of a motor vehicle of Vehicular system, the vehicle lateral acceleration of Vehicular yaw cireular frequency and state observer output transfers to the robust stability control module as input respectively, and the basic power-assisted square of the power-assisted square correction of described robust stability control module output and the output of reversible permanent magnet DC motor transfers to electric boosting steering system through synthetic computing as target power-assisted square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100305621A CN100381323C (en) | 2005-10-14 | 2005-10-14 | Electric booster turning system of fusing active turning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100305621A CN100381323C (en) | 2005-10-14 | 2005-10-14 | Electric booster turning system of fusing active turning function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1749081A CN1749081A (en) | 2006-03-22 |
| CN100381323C true CN100381323C (en) | 2008-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100305621A Expired - Fee Related CN100381323C (en) | 2005-10-14 | 2005-10-14 | Electric booster turning system of fusing active turning function |
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| CN (1) | CN100381323C (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100397777C (en) * | 2006-08-18 | 2008-06-25 | 浙江大学 | Electric booster steering controller |
| CN101618733B (en) * | 2009-08-06 | 2011-05-04 | 上海交通大学 | Front wheel and rear wheel drive steering control system of automobile |
| CN101811515B (en) * | 2009-12-18 | 2011-12-14 | 江苏长江环境科技工程有限公司 | Control device for automotive active steering system |
| CN102180192A (en) * | 2011-04-19 | 2011-09-14 | 廖志华 | Electric steering assisting power control system of new-energy car |
| DE102011120667A1 (en) * | 2011-12-09 | 2013-06-13 | Wabco Gmbh | Driving stabilization method, Fahrstabbilisierungseinrichtung and vehicle with it |
| FR2996198B1 (en) * | 2012-09-28 | 2016-01-22 | Renault Sas | MANAGEMENT ASSISTANCE MANAGEMENT OF A MOTOR VEHICLE |
| CN102923189B (en) * | 2012-10-11 | 2016-08-17 | 吉林大学 | A kind of electric booster steering system controller based on permagnetic synchronous motor and control method |
| CN103754256B (en) * | 2014-01-24 | 2016-01-06 | 中国石油大学(华东) | A kind of have adjustable the electronlmobil steering swivel system and the control method that turn to pattern |
| CN104477231A (en) * | 2014-08-19 | 2015-04-01 | 广东技术师范学院 | Combination control system for integration electric power steering and active steering |
| CN104608817B (en) * | 2015-01-08 | 2017-01-25 | 奇瑞汽车股份有限公司 | Intelligent crosswind influence early-warning method based on electric steering device |
| JP6512430B2 (en) * | 2015-03-24 | 2019-05-15 | 株式会社ジェイテクト | Electric power steering apparatus and gain setting method in electric power steering apparatus |
| US10077068B2 (en) | 2015-07-31 | 2018-09-18 | Steering Solutions Ip Holding Corporation | Inertia compensation frequency shaping for improved EPS system stability |
| CN105667574B (en) * | 2015-12-15 | 2018-04-20 | 耐世特汽车***（苏州）有限公司 | Self-adapting steering control system and its control method based on driving style |
| CN105774898B (en) * | 2016-03-24 | 2019-04-09 | 奇瑞汽车股份有限公司 | Electric boosting steering system |
| CN106394651A (en) * | 2016-06-27 | 2017-02-15 | 海特汽车科技（苏州）有限公司 | EPS (electric power steering) control device and self-adaptive phase compensation method thereof |
| US10435062B2 (en) * | 2017-06-29 | 2019-10-08 | Steering Solutions Ip Holding Corporation | Electric power steering system with uniform architecture for multiple operating modes |
| CN107662637B (en) * | 2017-09-29 | 2019-07-30 | 株洲易力达机电有限公司 | A kind of automobile electric power-assisted steering disk angle recognition system |
| CN110001759B (en) * | 2019-03-11 | 2021-04-20 | 江苏大学 | EPS state machine-based driving assistance system and state switching method |
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| JP2005255025A (en) * | 2004-03-12 | 2005-09-22 | Toyota Motor Corp | Steering device for vehicle |
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- 2005-10-14 CN CNB2005100305621A patent/CN100381323C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4802544A (en) * | 1986-12-09 | 1989-02-07 | Tokai Trw & Co., Ltd. | Electric power steering apparatus having motor braking function |
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| JP2004256008A (en) * | 2003-02-26 | 2004-09-16 | Toyota Motor Corp | Power steering device of vehicle |
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| JP2005255025A (en) * | 2004-03-12 | 2005-09-22 | Toyota Motor Corp | Steering device for vehicle |
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| CN1749081A (en) | 2006-03-22 |
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