CN106043419B - Electric-liquid composite power steering control device and its control method - Google Patents
Electric-liquid composite power steering control device and its control method Download PDFInfo
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- CN106043419B CN106043419B CN201610542721.4A CN201610542721A CN106043419B CN 106043419 B CN106043419 B CN 106043419B CN 201610542721 A CN201610542721 A CN 201610542721A CN 106043419 B CN106043419 B CN 106043419B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000007788 liquid Substances 0.000 title claims description 21
- 239000002131 composite material Substances 0.000 title claims description 20
- 230000008878 coupling Effects 0.000 claims abstract description 12
- 238000010168 coupling process Methods 0.000 claims abstract description 12
- 238000005859 coupling reaction Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 17
- 150000001875 compounds Chemical class 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000011156 evaluation Methods 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000013019 agitation Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of electric-hydraulic combined power steering system control device and its control methods, wherein, the power-assisted part of electric-hydraulic combined steering is made of electric boosted executing agency and hydraulic booster executing agency, power-assisted coupling module realizes the coupling of two module power-assisteds, the control method is according to steering wheel angle signal, speed signal, yaw rate signal etc. selects different steering patterns, different power-assisted module operating modes is selected when vehicle is in different conditions, solve the hydraulic booster system that traditional motorbus uses, the problem of steering response is poor when electric-controlled hydraulic force aid system assist characteristic adjustability and high speed.
Description
Technical field
The present invention relates to automobile assisted power steering system control technology fields, refer specifically to for a kind of compound power-assisted steering of electric-liquid
System control device and the control method based on the system.
Background technology
At present, the servo steering system that existing automobile generally uses has：Hydraulic power-assist steering system, electric-controlled hydraulic power-assisted
Steering and electric boosting steering system.Wherein, hydraulic power-assist steering system, Electro-Hydraulic Power Steering System can be in automobiles
Larger power-assisted under speed operation is provided, mitigates burden when driver turns to；But steering response is poor under high-speed working condition, manipulates steady
It is qualitative that there are problems.Electric boosting steering system is by controller, assist motor, deceleration mechanism steering-wheel torque sensor and vehicle
The compositions such as fast sensor, controller receive the steering-wheel torque signal that sensor measures and speed signal and are handled, controlled
Motor exports power torque according to pre-determined assist characteristic.But it is influenced by electrical characteristics such as itself automobile battery tensions,
The maximum power-assisted square that it is exported is smaller, is unsatisfactory for the demand of the vehicles such as motorbus.
The robustness problem of control system is originated from engineering problem, the performance quality Ying Zhun of ideal automatic control system
Really now desired design is asked, but the uncertainty of controlled device is inevitable, therefore contains uncertainty in controlled device
Under the premise of, system is made to become a critically important subject close to ideal design index.Constant, deterministic control during based on research
The Traditional control theory of object cannot solve the problems, such as system robust control, and Hinf control theories in robust control theory and
Its LMI algorithm is the classical tool of linear system robust system design, and uncertain interference can effectively be inhibited to cause system
Influence.This system is using Hinf control theories as the theoretical foundation for solving system control technique research.
Invention content
Above-mentioned the deficiencies in the prior art are directed to, the purpose of the present invention is to provide a kind of electric-liquid composite power steering systems
System control device and its control method, to solve hydraulic power-assist steering system, Electro-Hydraulic Power Steering System in the prior art
The problems such as steering response is poor under high-speed working condition, and control stability is poor and the maximum power-assisted of electric boosting steering system output
The smaller problem of square.
In order to achieve the above objectives, a kind of electric-liquid composite power steering control device of the invention, including：Machinery turns
Square control module, Hinf control modules, electric boosted executing agency, hydraulic booster executing agency, mode selector, current control
Module, moment coupling module, current detection module, ECU, wherein, it further includes：Electric boosted mode decision device, hydraulic booster mould
Formula determining device, compound assistant mode determining device；
The machine torque control module input terminal is passed with vehicle speed sensor, steering-wheel torque sensor, steering wheel angle
The sensor assembly of sensor composition is connected, and output terminal is connected with current control module；
The mode selector input is connected with ECU, output terminal and electric boosted mode decision device, hydraulic booster pattern
Determining device, compound assistant mode determining device are connected；
The electric boosted mode decision device, hydraulic booster mode decision device, compound assistant mode determining device output terminal with
Current control module is connected；
The current detection module is anti-by electric boosted executing agency, hydraulic booster actuating mechanism controls electric current actual value
It is fed to Hinf control module input terminals；
The Hinf control modules input terminal is connected with current control module, output terminal and electric boosted executing agency, liquid
Pressure power-assisted actuation mechanism is connected；
The moment coupling module input is connected with electric boosted executing agency, hydraulic booster executing agency, output terminal
It is connected with steering gear.
Preferably, the hydraulic booster executing agency includes：Assist motor A, power-assisted oil pump, rotary valve, servohydraulic cylinder；It helps
Power-assisted fluid is pumped into rotary valve by force motor A driving power-assisted oil pump rotations by oil storage tank, and power-assisted fluid passes through rotary valve aperture not cocurrent flow
Enter servohydraulic cylinder both sides, generate hydraulic pressure difference；The electric boosted executing agency includes：Assist motor B, deceleration mechanism, are helped
Force motor B output torques are slowed down via deceleration mechanism after increasing square, are exported to mechanical steering module.
A kind of electric-liquid composite power steering steering pattern method for handover control of the present invention, includes the following steps：
(1) steering moment is inputted to electric-liquid composite turning system by steering wheel；
(2) machine torque control module is measured according to vehicle speed sensor speed signal, steering wheel angle sensor measure
Angular signal, the dtc signal that measures of steering-wheel torque sensor, obtain total power-assisted size of current；ECU is by total power-assisted electric current
Size and vehicle current working parameter input pattern selector, pass through electric boosted mode decision device, hydraulic booster mode decision
Device, to vehicle, current desired steering pattern judges compound assistant mode determining device, outputs current to current control module；
(3) Hinf control modules processing current control module output current, controls electric boosted executing agency, hydraulic booster
Executing agency's the output phase answers power-assisted；
(4) current detection module feeds back electric boosted executing agency, hydraulic booster actuating mechanism controls electric current actual value
To Hinf control module input terminals, to eliminate the tracking error of aims of systems signal and actual signal；
(5) moment coupling module handles electric boosted executing agency, hydraulic booster executing agency output power-assisted, and
Total power-assisted value is exported to mechanical steering gear, realizes power-assisted steering.
Preferably, above-mentioned steps (3) specifically include：W represents the exogenous disturbances of control system, w=[θs Qs TR]T, Ww=
[Ww1,Ww2,Ww3] represent the weight function matrix of exogenous disturbances w, Ww1,Ww2,Ww3Represent that steering wheel input, road agitation are defeated respectively
Enter, the weighting function of power steering pump discharge input；G (s) represents ssystem transfer function, and K (s) represents the control of composite turning system
Device, by reference inputAnd system control input quantity u=[T are calculated in power-assisted proportionalityem] so as to ensure that system is steady
Fixed operation, TemRepresent control motor output；dsRepresent sensor disturbance input；
E represents system evaluation index, and z1, z2 and z3 represent system output errors, controller output and system output respectively；
W1, W2And W3System tracking performance, controller output, robust performance weighting function are represented respectively, pass through W1, W2And W3Three performances
Weighting function adjusts system and evaluates output accordingly respectively；System must meet exogenous disturbances w to the H of evaluation output z transmission functions∞
Norm is less than set-point, solves H∞Norm, you can obtain system controller K；Wherein, Gw1、Gw2、Gw3Steering wheel is represented respectively
The transmission function that input, road agitation input, power steering pump discharge input；G0Represent ssystem transfer function；
U=Ky
E=Fl(P(s),K(s))w
In formula：U=[Tem]。
Beneficial effects of the present invention：
1st, consider speed, turn to the influence to electric-liquid composite turning system such as disk rotating speed, different shapes are in vehicle
During state, the rapid steering pattern for switching electric-liquid composite turning system improves steering wheel torque control precision, improves vehicle
The control stability of driving.
2nd, multi-steering mode capabilities are realized in automobile assisted power steering system, steering pattern can be carried out according to different operating modes and cut
It changes, realizes being perfectly combined for motor turning portability and steering response, and can also be by the economy of automobile assisted power steering and spirit
Activity is combined, therefore has a vast market application prospect.
Description of the drawings
Fig. 1 is painted the structure diagram of steering control device of the present invention；
Fig. 2 is painted Hinf control module Stator-Quantities Control schematic diagrams.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
With reference to shown in Fig. 1, a kind of electric-liquid composite power steering control device of the invention is answered applied to electric-liquid
Steering is closed, which includes：Pilot model 1, steering wheel model 2, torque sensor 3, steering gear 4, wheel 5；
Pilot model 1 inputs steering moment by steering wheel model 2, is delivered torque to by steering column, steering gear 4
Wheel 5, driving wheel 5 rotate, and realize that system turns to.
Above-mentioned control device includes：Machine torque control module 6, Hinf control modules 8, electric boosted executing agency 9,
Hydraulic booster executing agency 10, mode selector 14, current control module 7, moment coupling module 11, current detection module 12,
ECU13, wherein, it further includes：Electric boosted mode decision device 15, hydraulic booster mode decision device 16, compound assistant mode judge
Device 17；
6 input terminal of machine torque control module is passed with vehicle speed sensor, steering-wheel torque sensor, steering wheel angle
The sensor assembly of sensor composition is connected, and output terminal is connected with current control module 7, inputs and turns for speed signal 19 and steering wheel
The dtc signal 18 that square sensor 3 exports, exports as total power-assisted current signal 20；Wherein, vehicle speed sensor：For detecting automobile
Speed is usually mounted in driving axle housing；Steering-wheel torque sensor：For detecting steering-wheel torque size, it is usually mounted to
Steering wheel steering tube axis；Steering wheel angle sensor：For detecting steering wheel angle size, it is usually mounted to steering wheel steering tube
Axis；
14 input terminal of mode selector is connected with ECU13, inputs and controls electric current 21 for ECU, and output terminal is helped with electronic
Force mode determining device 15, hydraulic booster mode decision device 16, compound assistant mode determining device 17 are connected；
The electric boosted mode decision device 15, hydraulic booster mode decision device 16, compound assistant mode determining device 17 are defeated
Outlet is connected with current control module 7, which receives each mode decision device control signal 22 and total power-assisted electric current
Signal 20, output control electric current 23 arrive Hinf control modules 8；
8 input terminal of Hinf control modules is connected with current control module 7 receives control electric current；Output terminal is helped with electronic
Power executing agency 9, hydraulic booster executing agency 10 are connected, and export control signal 24 to the two；Current detection module 12 will be electric
The signal 25 that dynamic power-assisted actuation mechanism 9, hydraulic booster executing agency 10 export is detected, and control electric current 26 is fed back to Hinf
Control module 8, for eliminating signal trace error,
11 input terminal of moment coupling module is connected with electric boosted executing agency 9, hydraulic booster executing agency 10, defeated
Enter and export power-assisted square 27 for two executing agencies, output terminal is connected with steering gear, exports to couple power-assisted square 28；Electric boosted execution
The power-assisted that mechanism 9, hydraulic booster executing agency 10 export is exported through moment coupling module 11 to steering gear 4, realizes power-assisted steering.
Wherein, the hydraulic booster executing agency includes：Assist motor A, power-assisted oil pump, rotary valve, booster cylinder；Power-assisted
Power-assisted fluid is pumped into rotary valve by motor A driving power-assisted oil pump rotations by oil storage tank, and power-assisted fluid is flowed by rotary valve aperture difference
Servohydraulic cylinder both sides generate hydraulic pressure difference；The electric boosted executing agency includes：Assist motor B, deceleration mechanism, power-assisted
Motor B output torques are slowed down via deceleration mechanism after increasing square, are exported to mechanical steering module.
A kind of electric-liquid composite power steering steering pattern method for handover control, includes the following steps：
(1) steering moment is inputted to electric-liquid composite turning system by steering wheel；
(2) machine torque control module is measured according to vehicle speed sensor speed signal, steering wheel angle sensor measure
Angular signal, the dtc signal that measures of steering-wheel torque sensor, obtain total power-assisted size of current；ECU is by total power-assisted electric current
Size and vehicle current working parameter input pattern selector, pass through electric boosted mode decision device, hydraulic booster mode decision
Device, to vehicle, current desired steering pattern judges compound assistant mode determining device, outputs current to current control module；
(3) Hinf control modules processing current control module output current, controls electric boosted executing agency, hydraulic booster
Executing agency's the output phase answers power-assisted；
As shown in Fig. 2, w represents the exogenous disturbances of control system, w=[θs Qs TR]T, Ww=[Ww1,Ww2,Ww3] represent dry
Disturb the weight function matrix of input w, Ww1,Ww2,Ww3Steering wheel input, road agitation input, power steering pump discharge are represented respectively
The weighting function of input；G (s) represents ssystem transfer function, and K (s) represents composite turning system controller, by reference input
And system control input quantity u=[T are calculated in power-assisted proportionalityem] so as to ensure system stable operation, TemRepresent control
Motor exports；dsRepresent sensor disturbance input；
E represents system evaluation index, and z1, z2 and z3 represent system output errors, controller output and system output respectively；
W1, W2And W3System tracking performance, controller output, robust performance weighting function are represented respectively, pass through W1, W2And W3Three performances
Weighting function adjusts system and evaluates output accordingly respectively；System must meet exogenous disturbances w to the H of evaluation output z transmission functions∞
Norm is less than set-point, solves H∞Norm, you can obtain system controller K；Wherein, Gw1、Gw2、Gw3Steering wheel is represented respectively
The transmission function that input, road agitation input, power steering pump discharge input；G0Represent ssystem transfer function；
U=Ky
E=Fl(P(s),K(s))w
In formula：U=[Tem]。
(4) current detection module feeds back electric boosted executing agency, hydraulic booster actuating mechanism controls electric current actual value
To Hinf control module input terminals, to eliminate the tracking error of aims of systems signal and actual signal；
(5) moment coupling module handles electric boosted executing agency, hydraulic booster executing agency output power-assisted, and
Total power-assisted value is exported to mechanical steering gear, realizes power-assisted steering.
Using the control device and control method of the present invention, vehicle is in the process of moving according to quantity of states such as speeds compound
Pattern switching is carried out between steering pattern, electric boosted pattern, fluid-link steering pattern, i.e., compound power-assisted steering is performed in low speed
Pattern meets power-assisted demand by two compound work of power-assisted module；Electric boosted pattern is performed in high speed, it is only single
Module work provides appropriate power-assisted value for driver, ensures the control stability of car and good road feel.Existed by vehicle
Corresponding steering pattern is changed in different operating mode incisions, effectively increases control stability and driving safety of the vehicle in high speed
Property, and compared with existing hydraulic booster system, energy loss when vehicle high-speed and non-steering situation is reduced, therefore have
There is vast market prospect.
The present invention has considered the pass of the quantity of states such as speed, steering-wheel torque and two power-assisted module cooperative work
System carries out current control by the way of " total-point " to electric boosted executing agency, hydraulic booster executing agency, improve electricity-
The control accuracy of liquid composite turning system steering pattern switching.
There are many concrete application approach of the present invention, and the above is only the preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, several improvement can also be made, this
A little improve also should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of electric-liquid composite power steering control device, including：Machine torque control module, Hinf control modules, electricity
Dynamic power-assisted actuation mechanism, hydraulic booster executing agency, mode selector, current control module, moment coupling module, current detecting
Module, ECU, which is characterized in that further include：Electric boosted mode decision device, hydraulic booster mode decision device, compound assistant mode
Determining device；
The machine torque control module input terminal and vehicle speed sensor, steering-wheel torque sensor, steering wheel angle sensor
The sensor assembly of composition is connected, and output terminal is connected with current control module；
The mode selector input is connected with ECU, output terminal and electric boosted mode decision device, hydraulic booster mode decision
Device, compound assistant mode determining device are connected；
The electric boosted mode decision device, hydraulic booster mode decision device, compound assistant mode determining device output terminal and electric current
Control module is connected；
The current detection module feeds back to electric boosted executing agency, hydraulic booster actuating mechanism controls electric current actual value
Hinf control module input terminals；
The Hinf control modules input terminal is connected with current control module, and output terminal is helped with electric boosted executing agency, hydraulic pressure
Power executing agency is connected；
The moment coupling module input is connected with electric boosted executing agency, hydraulic booster executing agency, and output terminal is with turning
It is connected to device.
2. electric-liquid composite power steering control device according to claim 1, which is characterized in that the hydraulic pressure helps
Power executing agency includes：Assist motor A, power-assisted oil pump, rotary valve, booster cylinder, assist motor A driving power-assisted oil pump rotations,
Power-assisted fluid is pumped into rotary valve by oil storage tank, power-assisted fluid flows into servohydraulic cylinder both sides by rotary valve aperture difference, generates liquid
Press pressure difference；The electric boosted executing agency includes：Assist motor B, deceleration mechanism, assist motor B output torques are via deceleration
Mechanism slows down after increasing square, exports to mechanical steering module.
3. a kind of electric-liquid composite power steering steering pattern method for handover control, which is characterized in that include the following steps：
(1) steering moment is inputted to electric-liquid composite turning system by steering wheel；
(2) what machine torque control module is measured according to vehicle speed sensor speed signal, steering wheel angle sensor measured turns
The dtc signal that angle signal, steering-wheel torque sensor measure obtains total power-assisted size of current；ECU is by total power-assisted size of current
With vehicle current working parameter input pattern selector, by electric boosted mode decision device, hydraulic booster mode decision device, answer
Closing assistant mode determining device, current desired steering pattern judges to vehicle, outputs current to current control module；
(3) Hinf control modules processing current control module output current controls electric boosted executing agency, hydraulic booster to perform
Mechanism the output phase answers power-assisted；
(4) current detection module feeds back to electric boosted executing agency, hydraulic booster actuating mechanism controls electric current actual value
Hinf control module input terminals, to eliminate the tracking error of aims of systems signal and actual signal；
(5) moment coupling module handles, and will be total electric boosted executing agency, hydraulic booster executing agency output power-assisted
Power-assisted value is exported to mechanical steering gear, realizes power-assisted steering.
4. electric-liquid composite power steering steering pattern method for handover control according to claim 3, feature exist
In above-mentioned steps (3) specifically include：W represents the exogenous disturbances of control system, w=[θs Qs TR]T, Ww=[Ww1,Ww2,Ww3] table
Show the weight function matrix of exogenous disturbances w, Ww1,Ww2,Ww3Steering wheel input, road agitation input, power assistance pump for steering are represented respectively
The weighting function of flow input；G (s) represents ssystem transfer function, and K (s) represents composite turning system controller, by reference input
AmountAnd system control input quantity u=[T are calculated in power-assisted proportionalityem] so as to ensure system stable operation, TemIt represents
Control motor output；dsRepresent sensor disturbance input；
E represents system evaluation index, and z1, z2 and z3 represent system output errors, controller output and system output respectively；W1, W2
And W3System tracking performance, controller output, robust performance weighting function are represented respectively, pass through W1, W2And W3Three performance weightings
Function adjusts system and evaluates output accordingly respectively；System must meet exogenous disturbances w to the H of evaluation output z transmission functions∞Norm
Less than set-point, H is solved∞Norm, you can obtain system controller K；Wherein, Gw1、Gw2、Gw3Steering wheel input, road are represented respectively
Face exogenous disturbances, the transmission function of power steering pump discharge input；G0Represent ssystem transfer function；
U=Ky
E=Fl(P(s),K(s))w
In formula：U=[Tem]。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106585714B (en) * | 2016-12-12 | 2019-02-01 | 南京航空航天大学 | A kind of multi-mode composite turning genealogical classification controller and its control method |
| CN107010107B (en) * | 2017-04-20 | 2022-12-06 | 南京航空航天大学 | Hydraulic active steering system of motor bus and control method |
| JP6686967B2 (en) * | 2017-05-29 | 2020-04-22 | トヨタ自動車株式会社 | Power steering device |
| CN109955891B (en) * | 2017-12-25 | 2021-04-30 | 财团法人车辆研究测试中心 | Switching control method of electric auxiliary steering module and electric hydraulic steering module |
| CN109318982B (en) * | 2018-08-02 | 2021-05-25 | 江苏大学 | Parameter matching method for hybrid power steering system |
| CN109466622B (en) * | 2018-11-14 | 2020-06-16 | 北汽福田汽车股份有限公司 | Vehicle steering system, control method and vehicle |
| CN110104056B (en) * | 2019-04-15 | 2021-04-27 | 南京航空航天大学 | Power-assisted control device and control method of electro-hydraulic composite steering system |
| CN113459817B (en) * | 2021-05-17 | 2022-06-07 | 东风汽车集团股份有限公司 | Braking energy recovery control method and system based on wheel hub motor vehicle |
| CN113212543B (en) * | 2021-06-11 | 2022-04-08 | 南京航空航天大学 | Variable transmission ratio circulating ball type electro-hydraulic steering system and control method thereof |
| CN114852165B (en) * | 2022-06-02 | 2023-03-03 | 北京京深深向科技有限公司 | Control method and device of truck power-assisted steering system, electronic equipment and storage medium |
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| JP3561453B2 (en) * | 1999-12-24 | 2004-09-02 | 三菱電機株式会社 | Electric power steering control device |
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| CN101746411A (en) * | 2008-12-16 | 2010-06-23 | 日产自动车株式会社 | Steering control apparatus |
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