CN105429550B - A kind of modification method and system of current sample deviation - Google Patents
A kind of modification method and system of current sample deviation Download PDFInfo
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- CN105429550B CN105429550B CN201511032636.5A CN201511032636A CN105429550B CN 105429550 B CN105429550 B CN 105429550B CN 201511032636 A CN201511032636 A CN 201511032636A CN 105429550 B CN105429550 B CN 105429550B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
This application discloses a kind of modification method and system of current sample deviation, the voltage of electric boosting steering system EPS controllers is carried on the resistance of multiple different capacities respectively, detection voltage is carried in caused multiple different detection current values on the resistance of multiple different capacities respectively, and obtains multiple different sampled current values of EPS controllers sampling；It is fitted to obtain the current sample coefficient of EPS controllers and current sample bias using multiple different detection current values and multiple different sampled current values；Current sample coefficient and current sample bias are write in the microprocessing unit MCU of EPS controllers, to be modified to the initial current downsampling factor prestored in MCU and initial current sample-offset value.Application scheme can lift the uniformity of the finished product of different EPS controllers, the uniformity of the power-assisted feel of each EPS controllers control after guarantee entrucking.
Description
Technical field
The present invention relates to technical field of automobile control, more particularly to a kind of modification method and system of current sample deviation.
Background technology
Electric boosting steering system (Electric Power Steering, abbreviation EPS) is according to real-time speed and direction
Disk dtc signal, closed-loop current control is carried out to assist motor, assist torque is exported, so as to aid in driver turn steering wheel.
As the actuator of EPS, the control performance of assist motor largely determines the property of EPS
Can, and EPS controllers can obtain the power output of assist motor in real time using the control algolithm program for including current sample coefficient
Square, then according to the difference of its torque asked with driver, the power-assisted of assist motor is adjusted using feedback control algorithm
Torque, so that the actual output torque of assist motor is consistent with the torque that driver is asked.Therefore, in EPS controllers
Current sample coefficient for the control performance of assist motor and the accuracy for the assist torque that can be provided for EPS
There is large effect.
At present, it is to calculate a current sample coefficient under ideal conditions, then in EPS when producing EPS controllers
This current sample coefficient is applied in the control algolithm program of EPS controllers by the controller development phase, by control algolithm journey
The MCU of EPS controllers is entered in sequence programming, then produces by producing line to obtain the finished product of EPS controllers, offline immediately, entrucking.
But because the parameter of component used in production EPS controllers has small difference, this difference can be led
The current sample coefficient of each EPS controllers is caused to differ so that different EPS controllers are adopted to an equal amount of electric current
The current sampling data of sample can have any different, and cause the uniformity of the finished product of different EPS controllers poor, each EPS controls after entrucking
The power-assisted feel of device control can be inconsistent.
The content of the invention
The present invention provides a kind of modification method and system of current sample deviation, with lifted different EPS controllers into
The uniformity of product, the uniformity of the power-assisted feel of each EPS controllers control after guarantee entrucking.
In order to solve the above technical problems, the embodiment of the present invention provides following technical scheme：
A kind of modification method of current sample deviation, including：
The voltage of electric boosting steering system EPS controllers is carried on the resistance of multiple different capacities respectively, detected
The voltage is carried in caused multiple different electric currents on the resistance of multiple different capacities respectively, obtain it is multiple not
Same detection current value, and obtain the electricity that the EPS controllers are carried in multiple different capacities in the voltage respectively
The multiple different sampled current values sampled when in resistance；
It is fitted to obtain the EPS using multiple different detection current values and multiple different sampled current values
The current sample coefficient and current sample bias of controller；
The current sample coefficient and the current sample bias are write to the microprocessing unit of the EPS controllers
In MCU, to be modified to the initial current downsampling factor prestored in the MCU and initial current sample-offset value.
Preferably, the voltage by electric boosting steering system EPS controllers is carried in multiple different capacities respectively
On resistance, detect the voltage and be carried in caused multiple different electricity on the resistance of multiple different capacities respectively
Stream, obtains multiple different detection current values, including：
Control instruction is sent to the electric boosting steering system EPS controllers so that the EPS controllers control power-assisted
Motor open loop is simultaneously run with 100% dutycycle；
The voltage of the EPS controllers is carried in multiple different capacities respectively by multiple different Controls
On the resistance；
Detected when the voltage is carried on the resistance of multiple different capacities respectively and produced by current sensor
Multiple different electric currents, obtain multiple different detection current values.
Preferably, it is described to be fitted using multiple different detection current values with multiple different sampled current values
The current sample coefficient and current sample bias of the EPS controllers are obtained, including：
Using multiple different detection current values as ordinate, using multiple different sampled current values as horizontal seat
Mark, determines multiple different points in rectangular coordinate system；
By default fitting algorithm, it is determined that to the most short straight line of the average distance of multiple different points；
Slope of the straight line in the rectangular coordinate system is calculated, using the slope as the current sample coefficient,
And the difference between the origin and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system of the rectangular coordinate system is calculated, will
The difference is as the current sample bias.
Preferably, it is described that the current sample coefficient and the current sample bias are write into the EPS controllers
In microprocessing unit MCU, including：
By local interconnect network LIN and the EPS controller communications, the electric current is adopted by the EPS controllers
Spline coefficient and the current sample bias are write in the MCU.
Preferably, in addition to：
By the LIN and the EPS controller communications, the current sample coefficient in the MCU and described is read
Current sample bias, and the current sample coefficient and the current sample bias of reading are verified.
A kind of update the system of current sample deviation, including：
Detection module, for the voltage of electric boosting steering system EPS controllers to be carried in into multiple different capacities respectively
Resistance on, detect the voltage and be carried in caused multiple different electricity on the resistance of multiple different capacities respectively
Stream, obtains multiple different detection current values, and obtain the EPS controllers and be carried in multiple differences respectively in the voltage
The multiple different sampled current values sampled when on the resistance of power；
Fitting module, for being intended using multiple different detection current values and multiple different sampled current values
Conjunction obtains the current sample coefficient and current sample bias of the EPS controllers；
Correcting module, for the current sample coefficient and the current sample bias to be write into the EPS controllers
Microprocessing unit MCU in, with to the initial current downsampling factor prestored in the MCU and initial current sample-offset value
It is modified.
Preferably, the detection module, including：
Transmitting element, for sending control instruction to the EPS controllers so that the EPS controllers control power-assisted electricity
Machine open loop is simultaneously run with 100% dutycycle；
Control unit, for being carried in the voltage of the EPS controllers respectively by multiple different Controls
On the resistance of multiple different capacities；
Detection unit, it is carried in respectively described in multiple different capacities for detecting the voltage by current sensor
Caused multiple different electric currents on resistance, obtain multiple different detection current values.
Preferably, the fitting module, including：
Determining unit, for using multiple different detection current values as ordinate, with multiple different samplings
Current value is abscissa, and multiple different points are determined in rectangular coordinate system；
Fitting unit, for by default fitting algorithm, it is determined that the average distance to multiple different points is most short
Straight line；
Computing unit, for calculating slope of the straight line in the rectangular coordinate system, using the slope as described in
Current sample coefficient, and calculate the origin of the rectangular coordinate system and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system
Between difference, using the difference as the current sample bias.
Preferably, the correcting module, is specifically used for：
By local interconnect network LIN and the EPS controller communications, the electric current is adopted by the EPS controllers
Spline coefficient and the current sample bias are write in the MCU.
Preferably, in addition to：
Authentication module, for by the LIN and the EPS controller communications, the electric current read in the MCU to be adopted
Spline coefficient and the current sample bias, and the current sample coefficient to reading and current sample bias progress
Checking.
Therefore the modification method and system of a kind of current sample deviation of the application offer, by electric power steering
The voltage of system EPS controllers is carried on the resistance of multiple different capacities respectively, detect the voltage be carried in respectively it is more
Caused multiple different electric currents on the resistance of individual different capacity, obtain multiple different detection current values, and obtain
The EPS controllers sample multiple different when the voltage is carried on the resistance of multiple different capacities respectively
Sampled current value；It is fitted to obtain using multiple different detection current values and multiple different sampled current values described
The current sample coefficient and current sample bias of EPS controllers；The current sample coefficient and the current sample are biased
Value is write in the microprocessing unit MCU of the EPS controllers, with to the initial current downsampling factor prestored in the MCU
It is modified with initial current sample-offset value.It can be seen that the scheme that the application provides, after the completion of the production of EPS controllers, to electricity
Stream carries out multiple repairing weld, recalculates the current sample coefficient of each EPS controllers using sampled result and current sample biases
Value, and the current sample coefficient being calculated and current sample bias are write in the microprocessing unit MCU of EPS controllers,
Then it is just that EPS controllers is offline, the uniformity of the finished product of different EPS controllers can be so lifted, it is each after guarantee entrucking
The uniformity of the power-assisted feel of EPS controllers control.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of the modification method of current sample deviation provided by the invention；
Fig. 2 is a kind of structural representation of the update the system of current sample deviation provided by the invention；
Fig. 3 is the schematic diagram of the sampled current value of the different EPS controllers；
Fig. 4 is that the power-assisted curve that the different EPS controllers of prior art are tested to obtain on producing line terminal test equipment shows
It is intended to；
Fig. 5 is that obtained power-assisted is tested on producing line terminal test equipment using the different EPS controllers of application scheme
Curve synoptic diagram.
Embodiment
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described reality
It is only part of the embodiment of the present invention to apply example, and not all embodiments.Based on the embodiment in the present invention, the common skill in this area
The every other embodiment that art personnel are obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
The technical scheme of the application is described in detail below in conjunction with the accompanying drawings：
Fig. 1 is a kind of schematic flow sheet of the modification method of current sample deviation provided by the invention.
Shown in reference picture 1, the modification method for the current sample deviation that the embodiment of the present application provides is inclined applied to current sample
In the update the system of difference, comprise the following steps：
S101：The voltage of electric boosting steering system EPS controllers is carried on the resistance of multiple different capacities respectively,
Detect the voltage and be carried in caused multiple different electric currents on the resistance of multiple different capacities respectively, obtain more
Individual different detection current value, and obtain the institute that the EPS controllers are carried in multiple different capacities in the voltage respectively
State the multiple different sampled current values sampled when on resistance；
In the embodiment of the present application, the voltage by electric boosting steering system EPS controllers is carried in multiple respectively
On the resistance of different capacity, detect the voltage be carried in respectively it is caused multiple on the resistance of multiple different capacities
Different electric currents, multiple different detection current values are obtained, can be included：Sent to electric boosting steering system EPS controllers
Control instruction so that the EPS controllers are controlled assist motor open loop and run with 100% dutycycle；Pass through multiple differences
Control the voltage of the EPS controllers is carried on the resistance of multiple different capacities respectively；Pass through current sense
Device detects the voltage and is carried in caused multiple different electric currents on the resistance of multiple different capacities respectively, obtains
Multiple different detection current values.
In actual implementation process, sent out from producing line terminal test equipment by local interconnect network LIN messages to EPS controllers
Go out instruction, control assist motor is run with open loop, 100% dutycycle.By EPS controller offer+14V voltages, while use 7
This voltage-drop loading is controlled on the resistance of different capacity by the relay that the DO boards on producing line terminal test equipment control,
To obtain different current values.Producing line terminal test equipment controls the output of DO boards, so as to control the adhesive of each relay,
7 relays toggle, and it is closure that each moment, which only has a relay,.
Then, different current values detect using the high precision electric current transducer in producing line terminal test equipment
To multiple different detection current values, while obtain multiple different sampling electricity of the sampling of the sampling resistor inside EPS controllers
Flow valuve.In actual implementation process, can default selection 10A, 15A in the software of producing line terminal test equipment, 20A, 25A,
The electric current that 30A, 35A, 40A amount to 7 gears is sampled and calculated.
S102：It is fitted to obtain institute using multiple different detection current values and multiple different sampled current values
State the current sample coefficient and current sample bias of EPS controllers；
In the embodiment of the present application, it is described to utilize multiple different detection current values and multiple different samplings
Current value is fitted to obtain the current sample coefficient and current sample bias of the EPS controllers, can include：With multiple differences
The detection current value be ordinate, using multiple different sampled current values as abscissa, in rectangular coordinate system really
Fixed multiple different points；By default fitting algorithm, it is determined that to the most short straight line of the average distance of multiple different points；
Slope of the straight line in the rectangular coordinate system is calculated, using the slope as the current sample coefficient, and calculates institute
The difference between the origin and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system of rectangular coordinate system is stated, by the difference
As the current sample bias.
After current detecting terminates, for the detection current value and sampled current value corresponding to each gear, controlled with EPS
The sampled current value of EPS controllers record in device is abscissa, with the detection detected by high precision electric current transducer
Current value is ordinate, by fitting, can obtain straight line.
In actual applications, 7 points of above-mentioned seven gears collection typically will not point-blank, according to fitting algorithm
Obtained straight line, it can make it that this 7 points are most short from the average distance of this straight line.
The embodiment of the present application, current sample coefficient k of the slope as reality of obtained straight line will be fitted；Fitting is obtained
Straight line and the intersection point of the longitudinal axis and the difference of origin, as reality current sample bias b.
S103：The current sample coefficient and the current sample bias are write to the microprocessor of the EPS controllers
In unit MCU, to be repaiied to the initial current downsampling factor prestored in the MCU and initial current sample-offset value
Just.
In the embodiment of the present application, producing line terminal test equipment can be controlled by the local interconnect network LIN and EPS
Device communicates, and is write the current sample coefficient and the current sample bias in the MCU by the EPS controllers.
It is understood that in the embodiment of the present application, producing line terminal test equipment can also pass through the local internet
Network LIN and the EPS controller communications, read the current sample coefficient in the MCU and the current sample bias,
And the current sample coefficient and the current sample bias of reading are verified, if with the value one that writes before
Cause, then verify that work is completed.
Therefore a kind of modification method of current sample deviation of the embodiment of the present application offer, produced in EPS controllers
After the completion of, multiple repairing weld is carried out to electric current, the current sample coefficient and electricity of each EPS controllers are recalculated using sampled result
Sample-offset value is flowed, and the current sample coefficient being calculated and current sample bias are write to the microprocessor of EPS controllers
It is then just that EPS controllers is offline in unit MCU, the uniformity of the finished product of different EPS controllers can be so lifted, is protected
The uniformity of the power-assisted feel of each EPS controllers control after card entrucking.
Fig. 2 is a kind of structural representation of the update the system of current sample deviation provided by the invention.
Shown in reference picture 2, the update the system for the current sample deviation that the embodiment of the present application provides, including：
Detection module 1, for the voltage of electric boosting steering system EPS controllers to be carried in into multiple different capacities respectively
Resistance on, detect the voltage and be carried in caused multiple different electricity on the resistance of multiple different capacities respectively
Stream, obtains multiple different detection current values, and obtain the EPS controllers and be carried in multiple differences respectively in the voltage
The multiple different sampled current values sampled when on the resistance of power；
Fitting module 2, for utilizing multiple different detection current values and multiple different sampled current values
Fitting obtains the current sample coefficient and current sample bias of the EPS controllers；
Correcting module 3, for the current sample coefficient and the current sample bias to be write into the EPS controllers
Microprocessing unit MCU in, with to the initial current downsampling factor prestored in the MCU and initial current sample-offset value
It is modified.
Preferably, the detection module 1, including：
Transmitting element, for sending control instruction to electric boosting steering system EPS controllers so that the EPS controls
Device is controlled assist motor open loop and run with 100% dutycycle；
Control unit, for being carried in the voltage of the EPS controllers respectively by multiple different Controls
On the resistance of multiple different capacities；
Detection unit, it is carried in respectively described in multiple different capacities for detecting the voltage by current sensor
Caused multiple different electric currents on resistance, obtain multiple different detection current values.
Preferably, the fitting module 2, including：
Determining unit, for using multiple different detection current values as ordinate, with multiple different samplings
Current value is abscissa, and multiple different points are determined in rectangular coordinate system；
Fitting unit, for by default fitting algorithm, it is determined that the average distance to multiple different points is most short
Straight line；
Computing unit, for calculating slope of the straight line in the rectangular coordinate system, using the slope as described in
Current sample coefficient, and calculate the origin of the rectangular coordinate system and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system
Between difference, using the difference as the current sample bias.
Preferably, the correcting module 3, is specifically used for：
By local interconnect network LIN and the EPS controller communications, the electric current is adopted by the EPS controllers
Spline coefficient and the current sample bias are write in the MCU.
It is understood that it can also include：
Authentication module, for by the LIN and the EPS controller communications, the electric current read in the MCU to be adopted
Spline coefficient and the current sample bias, and the current sample coefficient to reading and current sample bias progress
Checking.
It should be noted that the update the system for the current sample deviation that the present embodiment provides can use the above method to implement
The modification method of current sample deviation in example, can be used for realizing whole technical schemes in above method embodiment, its is each
The function of individual functional module can implement according to the method in above method embodiment, and its specific implementation process can refer to
The associated description in embodiment is stated, here is omitted.
Therefore a kind of update the system of current sample deviation of the application offer, produce and complete in EPS controllers
Afterwards, multiple repairing weld is carried out to electric current, recalculates the current sample coefficient of each EPS controllers using sampled result and electric current is adopted
Sample bias, and the current sample coefficient being calculated and current sample bias are write to the microprocessing unit of EPS controllers
It is then just that EPS controllers is offline in MCU, the uniformity of the finished product of different EPS controllers can be so lifted, ensures dress
The uniformity of the power-assisted feel of each EPS controllers control after car.
In actual applications, as shown in figure 3, comparing the sample rate current matched curve of the EPS controllers of three different batches,
The size for the sampled current value that abscissa is sampled by the EPS controllers internal sample resistance, its unit are Count；Vertical seat
The detection current value gathered on producing line terminal test equipment is designated as, its unit is A.Straight line by origin (0,0) is default value
(k=83, b=0)；Other three straight lines are the result that three EPS controllers are each fitted and calculated.
What can clearly be shown in Fig. 3 finds out, different described its sampled current values of EPS controllers be it is discrepant, no
Unified pre-set value should be used.
Fig. 4 is shown, when the EPS controllers of three different batches are using k the and b values given tacit consent to, in EPS producing line terminals
Resulting power-assisted curve is tested in test equipment.
Fig. 5 is shown, after EPS controllers described in three different batches recalculate k and b values using the above method, in EPS
Resulting power-assisted curve is tested on producing line terminal test equipment.
Servomotor driving direction disk is used on producing line terminal test equipment, each experiment use is pre-set, phase
Same steering wheel angle, rotating speed and acceleration, comparison result is tested with the Different Effects for avoiding steering wheel from acting.
Fig. 4 and Fig. 5 are contrasted, can be evident that, when using k the and b values of same acquiescence, three controls
The power-assisted curve of device processed has deviation, and it is inconsistent to directly influence power-assisted feel；And by recalculating k and b values after, can keep away
Exempt from the difference between the EPS controllers individual, keep power-assisted feel consistent.
For convenience of description, it is divided into various modules during description system above with function to describe respectively.Certainly, this is being implemented
The function of each module can be realized in same or multiple softwares and/or hardware during application.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Especially for system or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.System and system embodiment described above is only schematical, wherein the conduct
The unit that separating component illustrates can be or may not be it is physically separate, can be as the part that unit is shown or
Person may not be physical location, you can with positioned at a place, or can also be distributed on multiple NEs.Can root
Factually border needs to select some or all of module therein realize the purpose of this embodiment scheme.Ordinary skill
Personnel are without creative efforts, you can to understand and implement.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
- A kind of 1. modification method of current sample deviation, it is characterised in that including：The voltage of electric boosting steering system EPS controllers is carried on the resistance of multiple different capacities respectively, described in detection Voltage is carried in caused multiple different electric currents on the resistance of multiple different capacities respectively, is obtained multiple different Current value is detected, and obtains the EPS controllers and is carried in respectively on the resistance of multiple different capacities in the voltage When multiple different sampled current values for sampling；It is fitted to obtain the EPS controls using multiple different detection current values and multiple different sampled current values The current sample coefficient and current sample bias of device；The current sample coefficient and the current sample bias are write in the microprocessing unit MCU of the EPS controllers, To be modified to the initial current downsampling factor prestored in the MCU and initial current sample-offset value；It is described to be fitted to obtain the EPS using multiple different detection current values and multiple different sampled current values The current sample coefficient and current sample bias of controller, including：Using multiple different detection current values as ordinate, using multiple different sampled current values as abscissa, Multiple different points are determined in rectangular coordinate system；By default fitting algorithm, it is determined that to the most short straight line of the average distance of multiple different points；Slope of the straight line in the rectangular coordinate system is calculated, using the slope as the current sample coefficient, and is counted The difference between the origin and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system of the rectangular coordinate system is calculated, by described in Difference is as the current sample bias.
- 2. according to the method for claim 1, it is characterised in that the electricity by electric boosting steering system EPS controllers Pressure is carried on the resistance of multiple different capacities respectively, detects the electricity that the voltage is carried in multiple different capacities respectively Multiple different electric currents caused by resistance, obtain multiple different detection current values, including：Control instruction is sent to the electric boosting steering system EPS controllers so that the EPS controllers control assist motor Open loop is simultaneously run with 100% dutycycle；The voltage of the EPS controllers is carried in described in multiple different capacities respectively by multiple different Controls On resistance；By current sensor detect the voltage be carried in respectively it is caused more on the resistance of multiple different capacities Individual different electric current, obtain multiple different detection current values.
- 3. according to the method for claim 1, it is characterised in that described by the current sample coefficient and the current sample Bias is write in the microprocessing unit MCU of the EPS controllers, including：By local interconnect network LIN and the EPS controller communications, by the EPS controllers by the current sample system Number and the current sample bias are write in the MCU.
- 4. according to the method for claim 1, it is characterised in that also include：By local interconnect network LIN and the EPS controller communications, read the current sample coefficient in the MCU and The current sample bias, and the current sample coefficient and the current sample bias of reading are verified.
- A kind of 5. update the system of current sample deviation, it is characterised in that including：Detection module, for the voltage of electric boosting steering system EPS controllers to be carried in the electricity of multiple different capacities respectively In resistance, detect the voltage and be carried in caused multiple different electric currents on the resistance of multiple different capacities respectively, Multiple different detection current values are obtained, and obtains the EPS controllers and is carried in multiple different work(respectively in the voltage The multiple different sampled current values sampled when on the resistance of rate；Fitting module, for being fitted using multiple different detection current values and multiple different sampled current values To the current sample coefficient and current sample bias of the EPS controllers；Correcting module, for the current sample coefficient and the current sample bias to be write into the micro- of the EPS controllers In processing unit MCU, with to the initial current downsampling factor prestored in the MCU and the progress of initial current sample-offset value Amendment；The fitting module, including：Determining unit, for using multiple different detection current values as ordinate, with multiple different sample rate currents It is worth for abscissa, multiple different points is determined in rectangular coordinate system；Fitting unit, for by default fitting algorithm, it is determined that most short straight of average distance to multiple different points Line；Computing unit, for calculating slope of the straight line in the rectangular coordinate system, using the slope as the electric current Downsampling factor, and calculate between the origin and the intersection point of the straight line and the longitudinal axis of the rectangular coordinate system of the rectangular coordinate system Difference, using the difference as the current sample bias.
- 6. system according to claim 5, it is characterised in that the detection module, including：Transmitting element, for sending control instruction to the EPS controllers so that the EPS controllers control assist motor is opened Ring is simultaneously run with 100% dutycycle；Control unit, it is multiple for being carried in the voltage of the EPS controllers respectively by multiple different Controls On the resistance of different capacity；Detection unit, for detecting the resistance that the voltage is carried in multiple different capacities respectively by current sensor Multiple different electric currents caused by upper, obtain multiple different detection current values.
- 7. system according to claim 5, it is characterised in that the correcting module, be specifically used for：By local interconnect network LIN and the EPS controller communications, by the EPS controllers by the current sample system Number and the current sample bias are write in the MCU.
- 8. system according to claim 5, it is characterised in that also include：Authentication module, for by local interconnect network LIN and the EPS controller communications, reading the electricity in the MCU Flow downsampling factor and the current sample bias, and the current sample coefficient to reading and the current sample bias Verified.
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| CN105909115B (en) * | 2016-06-30 | 2017-06-16 | 北京经纬恒润科技有限公司 | A kind of position compensation method and system |
| US10236808B2 (en) * | 2016-08-25 | 2019-03-19 | Analog Devices, Inc. | Systems and methods for determining motor parameters |
| CN106950524B (en) * | 2017-02-22 | 2019-08-20 | 歌尔科技有限公司 | Calibration method, device and calibration system for voltage measuring apparatus |
| CN106851886B (en) * | 2017-03-20 | 2020-03-17 | 东软医疗***股份有限公司 | Method and device for determining filament-withdrawing voltage of magnetron, magnetron and accelerator |
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