CN103303366A - Decision control method and system for power assisting motor in electric power steering system - Google Patents

Abstract

The invention relates to a decision control method for a power assisting motor in an electric power steering system. The decision control method particularly comprises the following steps: 1, calculating an ideal value of a turn angle of the power assisting motor by a power assisting motor turn angle reference module; 2, calculating a power assisting motor turn angle deviation value e by a deviation value calculation module; 3, judging whether e is 0 or not, if so, ending, and otherwise, carrying out the step 4; 4, adjusting the control quantity U according to the turn angle deviation value e and controlling the power assisting motor to rotate according to the control quantity U by a turn angle tracking controller; and 5, controlling the turn angle of the power assisting motor according to the control quantity U decided by the turn angle tracking controller by the power assisting motor, sending an actual turn angle value theta as to the deviation value calculation module, and going to the step 2. According to the decision control method, the bad influence of the system noise and the mechanical vibration which cannot be removed, on the steering feel caused by a reason that the electromechanical parameters of the electric power steering system cannot be randomly selected can be effectively made up for so as to obtain the best steering feel.

Description

The control decision method and system of assist motor in the electric boosting steering system

Technical field

The present invention relates to the control decision method and system of assist motor in the electric boosting steering system.

Background technology

At present, in order to improve the moment burden of chaufeur, obtain good steering feel, adopted electric boosting steering system as auxiliary work-saving device.Research discovery both at home and abroad, the dynamo-electric adopting parameters of electric power steering is larger on the impact of steering feel.For obtaining good steering feel, based on optimum theory the torque sensor rigidity of electric boosting steering system, assist motor rotor inertia and the dynamo-electric parameters such as transmission device reduction ratio that link to each other with assist motor are optimized and choose, effectively improved the steering feel of steering swivel system.

But owing to being subjected to the restriction of process tool given size standardization and seriation, this just causes the dynamo-electric parameter of electric power steering can't select veritably optimum value, need to preferentially select nominal valve such as the transmitting ratio of power-assisted transmission apparatus.Therefore, be subjected to the restriction of the factors such as Machining Technology, can only improve the steering feel of steering swivel system based on the selection of the dynamo-electric parameter of the electric boosting steering system of optimum theory, and can not obtain best steering feel.

Summary of the invention

Technical matters to be solved by this invention provides a kind ofly can eliminate system noise and mechanical vibration to the harmful effect of steering feel, and obtains the control decision method of assist motor in the electric boosting steering system of best steering feel.

The technical scheme that the present invention solves the problems of the technologies described above is as follows: the control decision method of assist motor in the electric boosting steering system specifically may further comprise the steps:

Step 1: assist motor corner referrer module receives assist motor corner accekeration The steering wheel angle accekeration Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value Ideal value with steering resisting torque

Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner

Be sent to the deviate computing module;

Step 2: the deviate computing module is according to the ideal value of assist motor corner

The corner actual value θ that returns with assist motor _AsCalculate assist motor corner deviate e;

Step 3: judge whether e is 0, if e is 0, finish; Otherwise, carry out step 4;

Step 4: the corner tracking control unit is adjusted controlling quantity U according to assist motor corner deviate e, and rotates according to described controlling quantity U control assist motor;

Step 5: assist motor is controlled the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and with corner actual value θ _AsBe sent to the deviate computing module, jump to step 2.

The invention has the beneficial effects as follows: the present invention provides the decision-making module for the decision-making of electric boosting steering system Power assisted control according to the dynam module of electric boosting steering system and the basic theoretical knowledge of inverse dynamics; This control decision method can remedy effectively because the dynamo-electric parameter of electric boosting steering system can not choose at random, and causes the system noise that can't eliminate and mechanical vibration to the harmful effect of steering feel, and then obtains best steering feel.

On the basis of technique scheme, the present invention can also do following improvement.

Further, the corner actual value θ of described assist motor _AsInitial value be 0.

Further, the calculating of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius;

With

Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

Further, assist motor corner deviate e equals the ideal value of assist motor corner in the described step 2

Deduct corner actual value θ _As

Further, the corner actual value θ of described assist motor _AsAdopt sensor or observer to gather and feed back to the deviate computing module.

Further, described corner tracking control unit is also controlled assist motor output assist torque T _Mas

Another object of the present invention is, for the deficiencies in the prior art, provides a kind of and can eliminate system noise and mechanical vibration to the harmful effect of steering feel, and obtain the control decision system of assist motor in the electric boosting steering system of best steering feel.

The technical scheme that the present invention solves the problems of the technologies described above is as follows: the control decision system of assist motor in the electric boosting steering system, it is characterized in that, and comprise assist motor corner referrer module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner referrer module is used for from outside reception assist motor corner accekeration

The steering wheel angle accekeration

Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value Ideal value with steering resisting torque Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner

Be sent to the deviate computing module;

Described deviate computing module is according to the ideal value of assist motor corner

The corner actual value θ that returns with assist motor _AsCalculate assist motor corner deviate e, and described corner deviate e is sent to the corner tracking control unit;

Described corner tracking control unit is adjusted controlling quantity U according to the corner deviate e of assist motor, and rotates according to described controlling quantity U control assist motor;

Described assist motor is according to the corner of controlling quantity U control assist motor, and with the corner actual value θ of assist motor _AsBe sent to the deviate computing module.

The invention has the beneficial effects as follows: the present invention provides the decision-making module for the decision-making of electric boosting steering system Power assisted control according to the dynam module of electric boosting steering system and the basic theoretical knowledge of inverse dynamics.And this control decision system can remedy effectively because the dynamo-electric parameter of electric boosting steering system can not choose at random, and causes the system noise that can't eliminate and mechanical vibration to the harmful effect of steering feel, thereby obtains best steering feel.

On the basis of technique scheme, the present invention can also do following improvement.

Further, assist motor corner referrer module is calculated according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius; With

Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

Further, the deviate e of described assist motor corner equals the ideal value of assist motor corner

Deduct corner actual value θ _As

Further, the corner actual value θ of described assist motor _AsAdopt sensor or observer to gather and feed back to the deviate computing module.

Description of drawings

Fig. 1 is the control decision method flow diagram of assist motor in the specific embodiment of the invention 1 described electric boosting steering system;

Fig. 2 is assist motor control decision system chart in the specific embodiment of the invention 1 described electric boosting steering system.

In the accompanying drawing, the list of parts of each label representative is as follows:

1, assist motor corner referrer module, 2, the deviate computing module, 3, the corner tracking control unit, 4, assist motor.

The specific embodiment

Below in conjunction with accompanying drawing principle of the present invention and feature are described, institute gives an actual example and only is used for explaining the present invention, is not be used to limiting scope of the present invention.

As shown in Figure 1, the control decision method flow diagram of assist motor in the specific embodiment of the invention 1 described electric boosting steering system specifically may further comprise the steps:

Step 1: assist motor corner referrer module receives assist motor corner accekeration

The steering wheel angle accekeration Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value

Ideal value with steering resisting torque

Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner

Be sent to the deviate computing module;

Step 2: the deviate computing module is according to the ideal value of assist motor corner The corner actual value θ that returns with assist motor _AsCalculate assist motor corner deviate e;

Step 3: whether deviate computing module judgment bias value e is 0, if e is 0, finishes; Otherwise, carry out step 4;

Step 4: the corner tracking control unit is adjusted controlling quantity U according to corner deviate e, and rotates according to described controlling quantity U control assist motor;

Step 5: assist motor is controlled the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and with corner actual value θ _AsBe sent to the deviate computing module, jump to step 2.

The corner actual value θ of described assist motor 4 _AsInitial value be 0.

The technology of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius;

With

Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

Assist motor corner deviate e equals the ideal value of assist motor corner in the described step 2

Deduct corner actual value θ _As

The corner actual value θ of described assist motor 4 _AsAdopt sensor or observer to gather and feed back to the deviate computing module.

Described corner tracking control unit 3 is also controlled assist motor output assist torque T _Mas

As shown in Figure 2, for assist motor control decision system chart in the specific embodiment of the invention 1 described electric boosting steering system, comprise assist motor corner referrer module 1, deviate computing module 2, corner tracking control unit 3 and assist motor 4;

Described assist motor corner referrer module 1 is used for from outside reception assist motor corner accekeration

The steering wheel angle accekeration

Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value Ideal value with steering resisting torque

Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner Be sent to deviate computing module 2;

Described deviate computing module 2 is according to the ideal value of assist motor corner

The corner actual value θ that returns with assist motor 4 _AsCalculate assist motor corner deviate e, and described corner deviate e is sent to corner tracking control unit 3;

Described corner tracking control unit 3 is adjusted controlling quantity U according to corner deviate e, and rotates according to described controlling quantity U control assist motor 4;

Described assist motor 4 is controlled corner according to controlling quantity U, and with corner actual value θ _AsBe sent to deviate computing module 2.

Assist motor corner referrer module 1 is calculated according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius;

With Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

Described assist motor corner deviate e equals the ideal value of assist motor corner

Deduct corner actual value θ _As

The corner actual value θ of described assist motor 4 _AsAdopt sensor or observer to gather and feed back to deviate computing module 2.

The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. the control decision method of assist motor in the electric boosting steering system is characterized in that, specifically may further comprise the steps:

Step 1: assist motor corner referrer module receives assist motor corner accekeration from the outside

The steering wheel angle accekeration

Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value

Ideal value with steering resisting torque

Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner

Be sent to the deviate computing module;

Step 2: the deviate computing module is according to the ideal value of assist motor corner

The corner actual value θ that returns with assist motor _AsCalculate assist motor corner deviate e;

Step 3: whether deviate computing module judgment bias value e is 0, if e is 0, finishes; Otherwise, carry out step 4;

Step 4: the corner tracking control unit is adjusted controlling quantity U according to corner deviate e, and rotates according to described controlling quantity U control assist motor;

Step 5: assist motor is controlled the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and with corner actual value θ _AsBe sent to the deviate computing module, jump to step 2.

2. control decision method according to claim 1 is characterized in that, the corner actual value θ of described assist motor _AsInitial value be 0.

3. control decision method according to claim 2 is characterized in that, the calculating of step 1 is carried out according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius;

With

Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

4. control decision method according to claim 3 is characterized in that, assist motor corner deviate e equals the ideal value of assist motor corner in the described step 2

Deduct corner actual value θ _As

5. control decision method according to claim 4 is characterized in that, the corner actual value θ of described assist motor _AsAdopt sensor or observer to gather and feed back to the deviate computing module.

6. according to claim 1 to 5 each described control decision methods, it is characterized in that, described corner tracking control unit is also controlled assist motor output assist torque T _Mas

7. the control decision system of assist motor in the electric boosting steering system is characterized in that, comprises assist motor corner referrer module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner referrer module is used for from outside reception assist motor corner accekeration

The steering wheel angle accekeration

Assist motor tarnsition velocity value

The steering wheel angle velocity amplitude

Desirable assist torque value

Ideal value with steering resisting torque

Calculate the ideal value of assist motor corner

And with the ideal value of described assist motor corner Be sent to the deviate computing module;

Described deviate computing module is according to the ideal value of assist motor corner

The corner actual value θ that returns with assist motor _AsCalculate assist motor corner deviate e, and described corner deviate e is sent to the corner tracking control unit;

Described corner tracking control unit is adjusted controlling quantity U according to corner deviate e, and rotates according to described controlling quantity U control assist motor;

Described assist motor is controlled corner according to controlling quantity U, and with corner actual value θ _AsBe sent to the deviate computing module.

8. control decision according to claim 7 system is characterized in that, assist motor corner referrer module is calculated according to following formula:

${\mathrm{\θ}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·\·}{\mathrm{\θ}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\·}{\mathrm{\θ}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In the above-mentioned formula, K _AsStiffness coefficient for assist motor; T _dBe the input of chaufeur hand-wheel torque; θ _SwBe steering wheel angle; θ _AsBe the output of assist motor corner; J _cAnd B _cThe rotation that is respectively Steering gear is used to and damping coefficient; M _RAnd B _RRepresent respectively tooth bar quality and tooth bar damping coefficient; R _pFor turning to the miniature gears radius;

With Be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that links to each other with assist motor.

9. control decision according to claim 8 system is characterized in that, described assist motor corner deviate e equals the ideal value of assist motor corner

Deduct corner actual value θ _As

10. each described control decision system is characterized in that the corner actual value θ of described assist motor according to claim 7-9 _AsAdopt sensor or observer to gather and feed back to the deviate computing module.

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