CN106275061B - It is a kind of theoretical man-machine to drive type electric boosting steering system and control method altogether based on mixing - Google Patents
It is a kind of theoretical man-machine to drive type electric boosting steering system and control method altogether based on mixing Download PDFInfo
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- CN106275061B CN106275061B CN201610839790.1A CN201610839790A CN106275061B CN 106275061 B CN106275061 B CN 106275061B CN 201610839790 A CN201610839790 A CN 201610839790A CN 106275061 B CN106275061 B CN 106275061B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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Abstract
The invention discloses a kind of theoretical man-machine to drive type electric boosting steering system and control method based on mixing altogether, belong to the unmanned steering field of intelligent automobile, man-machine type electric boosting steering system of driving altogether includes that preposition torque/rotary angle transmitter, postposition torque/rotary angle transmitter, man-machine type electric power steering of driving altogether mix controller, switching monitoring controller, steering motor, steering shaft, deceleration mechanism and rack and pinion mechanism.The present invention also provides a kind of based on the man-machine control method for driving type electric boosting steering system altogether for mixing theory, the man-machine type electric boosting steering system of driving altogether established under optimized operation state based on hybrid switching system turns to regulation and control system, challenge in whole service engineering is decomposed into the synthesis of control problem under single operating mode, man-machine type electric boosting steering system Complex Modeling and control are driven altogether to realize.Stability of control system of the present invention is high, and control method is easy to implement, can meet the different steering situation of vehicle.
Description
Technical Field
The invention belongs to the field of intelligent automobile unmanned steering, and particularly relates to a man-machine co-driving type electric power steering system and a control method based on a hybrid theory.
Background
The intelligent automobile is a complex system integrating multiple fields of high and new technologies such as environment perception, planning decision, multi-level auxiliary driving and the like, and the development of the intelligent automobile technology must go through a continuous advancing process from partial driving function autonomy to complete autonomous driving, and from simple environment automatic driving such as an expressway and the like to various road automatic driving.
The intelligent automobile has complicated and variable steering working conditions, the control requirement of automobile steering operation on each working condition is higher, and the traditional control strategy cannot give consideration to the multi-working condition characteristics of a man-machine driving-sharing type electric power steering system under two steering modes (man driving and machine driving) and the steering performance requirement under different working conditions; on the other hand, the man-machine co-driving type electric power steering system has a high requirement on the real-time performance of control, and the functions of the slave controller (or control strategy) and the design and implementation angles of the slave controller need to meet the steering performance requirement under multiple working conditions, and the design of the controller needs to be as simple and easy to implement as possible, so that the traditional control strategy is difficult to consider the contradiction between the two.
In addition, discrete events such as control mode transition and the like coexist with continuous dynamics due to external interference of a vehicle, parameter change and change of operation conditions, and the man-machine co-driving type electric power steering system is determined to be a typical complex dynamic system, while the traditional control strategy cannot reflect the characteristics of discrete events and continuous dynamics coexistence of the man-machine co-driving type electric power steering system, the influence of the discrete events on continuous dynamic behaviors and the fusion and transition of various control modes.
Disclosure of Invention
In order to solve the technical problems, the invention provides a hybrid theory-based man-machine co-driving type electric power steering system and a control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a man-machine co-driving type electric power steering system based on a hybrid theory is characterized by comprising a front-mounted torque/corner sensor, a rear-mounted torque/corner sensor, a man-machine co-driving type electric power steering hybrid controller, a switching supervision controller, a steering motor, a steering shaft, a speed reducing mechanism and a gear rack mechanism;
the steering shaft is meshed with the rack-and-pinion mechanism through a gear, the steering shaft is sequentially provided with a front torque/corner sensor, a speed reducing mechanism and a rear torque/corner sensor from top to bottom, and the speed reducing mechanism is connected with a steering motor through a coupler; the steering motor is connected with the man-machine co-driving type electric power steering hybrid controller through a wire, and the man-machine co-driving type electric power steering hybrid controller controls the steering motor through current; the man-machine co-driving type electric power steering hybrid controller is also connected with the front-mounted torque/corner sensor, the rear-mounted torque/corner sensor and the switching supervisory controller through leads respectively and is used for acquiring a torque/corner value and supervising whether the man-machine co-driving type electric power steering hybrid controller works normally or not in various working modes;
the switching monitoring controller jointly acts under the operation condition of the electric power steering current system, an internal discrete event and an external discrete event, and the input and the output of the switching monitoring controller are multidimensional variables, not only contain continuous variables, but also contain discrete variables;
the man-machine co-driving type electric power steering hybrid controller comprises a signal conditioning module, a microprocessor and a driving module, wherein the signal conditioning module is used for conditioning signals of a front-mounted torque/corner sensor and a rear-mounted torque/corner sensor and removing larger interference and clutter in the signals; the microprocessor is used for generating a control strategy for controlling the steering motor; the driving module adjusts the current in the proportional coil through a PWM signal sent by the microprocessor, so that the steering motor is driven to work.
In the above scheme, the man-machine co-driving type electric power steering hybrid controller comprises five working modes, namely a driving small corner mode m1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4And a man-driving 'power-assisted' mode m5。
In the scheme, in a man driving mode, the steering motor serves as a power-assisted motor to assist a driver in manually steering; in the mechanical driving mode, the steering motor serves as a driving motor, and automatic steering operation without participation of a driver is realized.
A control method of a man-machine co-driving type electric power steering system based on a hybrid theory is characterized by comprising the following steps:
step 1), establishing a humanoid steering rule base;
step 2), analyzing the hybrid characteristics of the system according to the steering working condition of the man-machine co-driving type electric power steering system, and taking the hybrid characteristics as one of the bases for judging the working mode of the man-machine co-driving type electric power steering hybrid controller;
step 3), according to the real-time torque/corner value acquired by the front-mounted torque/corner sensor, obtaining a corner speed value by calculating a derivative of the real-time torque/corner value, analyzing the corner speed value, and judging a threshold value of the real-time torque and a threshold value of the corner speed to be used as a second basis for judging the working mode of the man-machine driving-sharing type electric power steering hybrid controller;
step 4), finally determining which working mode should be selected by the current man-machine driving type electric power steering hybrid controller according to one or two bases of the working modes of the system; meanwhile, determining an optimal control mode of the man-machine co-driving type electric power steering system;
and 5) judging the threshold value of the real-time torque and the threshold value of the angular velocity, and carrying out hybrid switching on the working mode of the hybrid controller of the man-machine co-driving type electric power steering according to discrete input signals inside and outside the system.
Further, the specific process of establishing the humanoid steering rule base in the step 1) is as follows: according to a large amount of test data, vehicle parameters under various working conditions are extracted, rules are summarized, and a corresponding relation is formed between the typical working conditions and the vehicle parameters.
Further, the steering working conditions of the man-machine co-driving type electric power steering system in the step 2) comprise lane changing driving, lane keeping, curve driving and emergency avoidance.
Further, the working modes of the hybrid electromechanical steering controller comprise a driving small-corner mode m1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4'power assisting' mode m for man-driving5。
Further, Td,0Upper limit value, T, of torque dead zone range for steering motormaxMaximum torque value, T, output for steering motoraIs Td,0And TmaxA set torque value;
when the vehicle runs in lane changing running or lane keeping steering working condition, if the front-mounted torque/steering angle sensor has no torque value, and the torque value T of the rear-mounted torque/steering angle sensor meets Td,0＜T＜TaAnd simultaneously, when the real-time torque and the direction of the corner speed are the same, judging that the motor vehicle enters a driving small corner mode m1；
When the vehicle runs on a curve or in an emergency avoidance working condition, if the front-mounted torque/corner sensor has no torque value, and the torque value T of the rear-mounted torque/corner sensor meets Ta＜T＜TmaxAnd simultaneously, when the real-time torque and the direction of the corner speed are the same, judging that the motor vehicle enters a driving large corner mode m2；
When the vehicle runs in the lane changing running or lane keeping working condition, if the front-mounted torque/corner sensor has no torque value, and the torque value T of the rear-mounted torque/corner sensor meets Ta＜T＜TmaxAnd when the real-time torque and the direction of the turning angular speed are opposite, judging to enter a driving return mode m3；
When the vehicle runs in the lane changing running or lane keeping working condition, if the front torque/corner sensor has no torque value, and the torque value T of the rear torque/corner sensor meets the condition that 0 < Td,0And when the real-time torque and the direction of the turning angular speed are the same, judging that the motor vehicle enters a damping mode m4；
When the vehicle runs under any working condition, if the front torque/rotation angle sensor has a torque value, the torque value is maintained to be more than 3s, and the torque value T' of the front torque/rotation angle sensor meets Td,0＜T′＜TmaxJudging to enter a 'boosting' mode m for human driving5。
Further, the discrete input signal in the system in the step 5) refers to the evolution of the working mode caused by continuous and dynamic operation of various working modes of the co-driving type electric power steering hybrid controller; external discrete input signals include external disturbances and system skew.
The invention has the beneficial effects that:
1. the invention divides the man-machine co-driving type electric power steering control system into five working modes, decomposes the complex problem in the whole operation engineering into the synthesis of the control problem under the single working condition, thereby realizing the complex modeling and control of the man-machine co-driving type electric power steering system. The optimal steering control system under each steering running state of the vehicle is established based on the hybrid switching system, so that the stability is high, and the control method is easy to realize; meanwhile, according to the establishment of the humanoid steering rule base, the corresponding relation is formed between the typical working condition and the vehicle parameter, the current running working condition of the vehicle is easier to accurately obtain, and therefore accurate control under the working condition is achieved. And finally, the switching supervision controller is established, so that the switching of each control mode of the man-machine co-driving type electric power steering system is ensured, and the gradual stability of the system in the switching process is ensured.
2. The invention realizes the control of the man-machine co-driving type electric power steering system under all working conditions under the framework of the hybrid theory, can well adapt to most typical steering working conditions, and can self-adaptively adjust the steering force and the steering angle, thereby outputting the optimal steering performance and obviously improving the operation stability of a vehicle system.
3. In the process of determining different steering working conditions of the man-machine co-driving type electric power steering system, the invention simultaneously considers whether the magnitude of the torque/the steering angle and the directions of the torque and the steering angle speed are the same, so that the determined magnitude of the steering force and the steering angle can meet different steering working conditions of the vehicle.
Drawings
FIG. 1 is a schematic structural diagram of a hybrid theory-based man-machine co-driving type electric power steering system according to the present invention;
FIG. 2 is a block diagram of a control system of a hybrid human-machine co-drive electric power steering controller;
fig. 3 is a flowchart of a control method of the hybrid controller for man-machine driving-together electric power steering according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a hybrid theory-based human-machine co-driving type electric power steering system comprises a front-mounted torque/corner sensor 1, a rear-mounted torque/corner sensor 2, a human-machine co-driving type electric power steering hybrid controller 3, a switching supervisory controller 4, a steering motor 5, a steering shaft 6, a speed reducing mechanism 7 and a rack-and-pinion mechanism 8;
the steering shaft 6 is meshed with the rack-and-pinion mechanism 8 through a gear, the steering shaft 6 is sequentially provided with a front torque/corner sensor 1, a speed reducing mechanism 7 and a rear torque/corner sensor 2 from top to bottom, and the speed reducing mechanism 7 is connected with the steering motor 5 through a coupler; the steering motor 5 is connected with the man-machine driving-together type electric power steering hybrid controller 3 through a wire, and the man-machine driving-together type electric power steering hybrid controller 3 controls the steering motor 5 through current; the man-machine co-driving type electric power steering hybrid controller 3 is also connected with the front-mounted torque/rotation angle sensor 1, the rear-mounted torque/rotation angle sensor 2 and the switching supervisory controller 4 through leads respectively, and is used for acquiring a torque/rotation angle value and supervising whether the man-machine co-driving type electric power steering hybrid controller 3 normally works in various working modes.
The man-machine common driving type electric power steering hybrid controller 3 comprises five working modes which are respectively a driving small corner mode m of the man-machine common driving1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4And a man-driving 'power-assisted' mode m5As shown in fig. 2, CDS is a continuous dynamic system, and DDS is a discrete dynamic system.
The man-machine co-driving type electric power steering system obtains a dynamic equation as follows according to Newton mechanics in four modes of the man-machine co-driving type electric power steering system:
TL＝Kr(θm-Gθe) (2)
wherein,is the angular acceleration, rad/s, of the motor2；JmKg.m. moment of inertia of the motor and clutch2；BmIs the motor viscous damping coefficient; thetamIs the angle of rotation, rad, of the motor;is the rotational speed of the motor, rad/s; t ismIs the motor electromagnetic torque, N · m; t isLLoad torque of the motor, N · m; krThe rigidity coefficient of the output shaft of the motor and the speed reducing mechanism; g is the reduction ratio of the worm gear-worm speed reducing mechanism; thetaeIs the rotation angle of the output shaft, rad; at this time, the torque value T of the rear torque/rotation angle sensor 2 in the motoring mode is TL。
In a man driving mode, the steering motor 5 serves as a power-assisted motor to assist a driver in manually steering; in the airplane driving mode, the steering motor 5 serves as a driving motor, and automatic steering operation without participation of a driver is realized.
The switching supervisory controller 4 serves as a logic/decision part of the system, not only is switching of controllers of the man-machine co-driving type electric power steering system guaranteed, but also gradual and stable of the system in the switching process is guaranteed, the switching supervisory controller 4 jointly acts under the operation condition of the current system, internal discrete events and external discrete events, and for the man-machine co-driving type electric power steering hybrid control system, input and output of the switching supervisory controller 4 are multi-dimensional variables and contain continuous variables and discrete variables; monitoring for the occurrence of each of an internal discrete event and an external discrete event, the internal discrete event being indicative of whether the steering wheel torque signal exceeds Td,0(Torque dead band Range Upper Limit value), Ta(certain set intermediate torque value) and Tmax(the motor 5 outputs the maximum torque value), the front or rear torque/rotation angle sensor works normally, and other discrete events; monitoring the transition of control mode at m according to different monitoring parameters by external discrete event1～m5Transitions are made between the 5 modes.
The man-machine co-driving type electric power steering hybrid controller 3 comprises a signal conditioning module, a microprocessor and a driving module, wherein the signal conditioning module is used for conditioning signals of the front-mounted torque/corner sensor 1 and the rear-mounted torque/corner sensor 2 and removing larger interference and clutter in the signals; the microprocessor is used for generating a control strategy for controlling the steering motor 5, and is an LPC2131 microprocessor; the driving module adjusts the current in the proportional coil through a PWM signal sent by the microprocessor so as to drive the steering motor 5 to work; the driving module specifically refers to an H-shaped unipolar reversible PWM driving system, which consists of 4 switching tubes and 4 freewheeling diodes and generates different control modes according to different control rules.
A man-machine drives type electric power assisted steering system altogether based on mix theory's working process does:
the man-machine co-driving type electric power steering hybrid controller 3 acquires a torque/rotation angle value through the front-mounted torque/rotation angle sensor 1 and the rear-mounted torque/rotation angle sensor 2, interference and noise are removed through the signal conditioning module and then the torque/rotation angle value is transmitted to the microprocessor, the microprocessor generates a control strategy for controlling the steering motor 5 through a received signal and sends a PWM signal to adjust the current in a proportional coil of the steering motor 5, so that the steering motor 5 is driven to work; the steering motor 5 outputs torque to the steering shaft 6 through the speed reducing mechanism 7 to drive the gear rack mechanism 8 to work, so that the wheels generate steering motion;
the steering working condition of the electric power steering system is judged through a human-simulated steering rule base program stored in the human-computer co-driving type electric power steering hybrid controller 3: lane changing driving, lane keeping, curve driving and emergency avoidance, analyzing the hybrid characteristics of a steering system, and judging whether the man-machine co-driving type electric power steering hybrid controller 3 enters a driving small corner mode m of the mechanical driving1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4'power assisting' mode m for man-driving5A certain operation mode of; the switching supervision controller 4 supervises whether the man-machine co-driving type electric power steering hybrid controller 3 normally works in various working modes by acquiring torque/rotation angle values of the front-mounted torque/rotation angle sensor 1 and the rear-mounted torque/rotation angle sensor 2; if the man-machine co-driving type electric power steering hybrid controller 3 worksWhen the motor is abnormal, the switching supervisory controller 4 sends the collected torque/rotation angle values of the front-mounted torque/rotation angle sensor 1 and the rear-mounted torque/rotation angle sensor 2 to the man-machine co-driving type electric power steering hybrid controller 3, the man-machine co-driving type electric power steering hybrid controller 3 is switched to a correct working mode through the H-type unipolar reversible PWM driving system, hybrid switching of the man-machine co-driving type electric power steering hybrid controller 3 among the working modes is guaranteed, and meanwhile gradual stability of the electric power steering system in the switching process is guaranteed.
A control method of a man-machine co-driving type electric power steering system based on a hybrid theory comprises the following steps:
step 1), establishing a humanoid steering rule base;
the human-simulated steering rule base extracts vehicle parameters under various working conditions according to a large amount of test data, summarizes rules, enables the typical working conditions and the vehicle parameters to form corresponding relations, and transmits a judgment result to the man-machine co-driving type electric power steering hybrid controller 3.
Step 2), according to the steering working condition of the man-machine co-driving type electric power steering system: the method comprises the steps of lane changing driving, lane keeping, curve driving and emergency avoidance, and analyzing the hybrid characteristics of a system to be used as one of the bases for judging the working mode of the man-machine co-driving type electric power steering hybrid controller 3;
the working modes of the co-driving type electric power steering hybrid controller 3 comprise a driving small corner driving mode m1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4'power assisting' mode m for man-driving5；(Td,0The upper limit value of the torque dead zone range of the steering motor 5 is 1N m; t ismaxThe maximum torque value output by the steering motor 5 is 8 N.m; t isaIs Td,0And TmaxA set torque value of 2N · m; )
When the vehicle is running in lane-change driving or lane keepingWhen the steering is in a working condition, if the front-mounted torque/rotation angle sensor 1 has no torque value, and the torque value T of the rear-mounted torque/rotation angle sensor 2 meets Td,0＜T＜TaAnd simultaneously, when the real-time torque and the direction of the corner speed are the same, judging that the motor vehicle enters a driving small corner mode m1；
When the vehicle runs on a curve or in an emergency avoidance working condition, if the front-mounted torque/rotation angle sensor 1 has no torque value, and the torque value T of the rear-mounted torque/rotation angle sensor 2 meets Ta＜T＜TmaxAnd simultaneously, when the real-time torque and the direction of the corner speed are the same, judging that the motor vehicle enters a driving large corner mode m2；
When the vehicle runs in the lane change running or lane keeping working condition, if the front-mounted torque/rotation angle sensor 1 has no torque value, and the torque value T of the rear-mounted torque/rotation angle sensor 2 meets Ta＜T＜TmaxAnd when the real-time torque and the direction of the turning angular speed are opposite, judging to enter a driving return mode m3；
When the vehicle runs in the lane change running or lane keeping working condition, if the front torque/corner sensor 1 has no torque value, and the torque value T of the rear torque/corner sensor 2 meets the condition that 0 < Td,0And when the real-time torque and the direction of the turning angular speed are the same, judging that the motor vehicle enters a damping mode m4；
No matter what kind of operating mode the vehicle is running on, if the front torque/rotation angle sensor 1 has a torque value, the torque value is maintained above 3s, and the torque value T' of the front torque/rotation angle sensor 1 satisfies Td,0＜T′＜TmaxJudging to enter a 'boosting' mode m for human driving5。
And step 3), according to the real-time torque/rotation angle value acquired by the front-mounted torque/rotation angle sensor 1, obtaining a rotation angle speed value by performing derivation on the real-time torque/rotation angle value, analyzing the rotation angle speed value, and judging a threshold value of the real-time torque and a threshold value of the rotation angle speed to be used as a second basis for judging the working mode of the man-machine driving-shared electric power steering hybrid controller 3.
Step 4), finally determining which working mode should be selected by the current man-machine driving-together type electric power steering hybrid controller 3 according to one or two of the working modes of the system; meanwhile, an optimal control mode of the man-machine driving-together type electric power steering system is determined.
Step 5), judging a threshold value of the real-time torque and a threshold value of the angular velocity, and carrying out hybrid switching on the working mode of the hybrid controller 3 according to discrete input signals inside and outside the system; the internal discrete input signal refers to the evolution of the working mode caused by the continuous and dynamic operation of various working modes of the co-driving type electric power steering hybrid controller 3; external discrete input signals include external disturbances and system skew.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (9)
1. A man-machine co-driving type electric power steering system based on a hybrid theory is characterized by comprising a front-mounted torque/corner sensor (1), a rear-mounted torque/corner sensor (2), a man-machine co-driving type electric power steering hybrid controller (3), a switching supervisory controller (4), a steering motor (5), a steering shaft (6), a speed reducing mechanism (7) and a rack and pinion mechanism (8);
the steering shaft (6) is meshed with the rack-and-pinion mechanism (8) through a gear, the steering shaft (6) is sequentially provided with a front torque/corner sensor (1), a speed reducing mechanism (7) and a rear torque/corner sensor (2) from top to bottom, and the speed reducing mechanism (7) is connected with the steering motor (5) through a coupler; the steering motor (5) is connected with the man-machine driving type electric power steering hybrid controller (3) through a wire, and the man-machine driving type electric power steering hybrid controller (3) controls the steering motor (5) through current; the man-machine co-driving type electric power steering hybrid controller (3) is also connected with the front-mounted torque/corner sensor (1), the rear-mounted torque/corner sensor (2) and the switching supervisory controller (4) through leads respectively and is used for acquiring a torque/corner value and supervising whether the man-machine co-driving type electric power steering hybrid controller (3) normally works in various working modes or not;
the switching monitoring controller (4) jointly acts under the operation condition of the electric power steering current system, an internal discrete event and an external discrete event, and the input and the output of the switching monitoring controller (4) are multidimensional variables, not only contain continuous variables, but also contain discrete variables;
the man-machine co-driving type electric power steering hybrid controller (3) comprises a signal conditioning module, a microprocessor and a driving module, wherein the signal conditioning module is used for conditioning signals of the front-mounted torque/corner sensor (1) and the rear-mounted torque/corner sensor (2) and removing larger interference and clutter in the signals; the microprocessor is used for generating a control strategy for controlling the steering motor (5); the driving module adjusts the current in the proportional coil through a PWM signal sent by the microprocessor, so that the steering motor (5) is driven to work.
2. The hybrid theory-based human-machine co-driving type electric power steering system according to claim 1, wherein the human-machine co-driving type electric power steering hybrid controller (3) comprises five working modes, namely a driving small rotation angle mode m for driving the human machine1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4And a man-driving 'power-assisted' mode m5。
3. The hybrid theory-based man-machine co-driving type electric power steering system according to claim 2, wherein in a man-driving mode, the steering motor (5) serves as a power-assisted motor to assist a driver in manual steering; in the mechanical driving mode, the steering motor (5) is used as a driving motor, and automatic steering operation without participation of a driver is realized.
4. A control method of a man-machine co-driving type electric power steering system based on a hybrid theory is characterized by comprising the following steps:
step 1), establishing a humanoid steering rule base;
step 2), analyzing the hybrid characteristics of the system according to the steering working condition of the man-machine co-driving type electric power steering system, and taking the hybrid characteristics as one of the bases for judging the working mode of the man-machine co-driving type electric power steering hybrid controller (3);
step 3), according to the real-time torque/corner value acquired by the front-mounted torque/corner sensor (1), obtaining a corner speed value by calculating a derivative of the real-time torque/corner value, analyzing the corner speed value, and judging a threshold value of the real-time torque and a threshold value of the corner speed to be used as a second basis for judging the working mode of the man-machine co-driving type electric power steering hybrid controller (3);
step 4), finally determining which working mode should be selected by the current man-machine driving type electric power steering hybrid controller (3) according to one or two of the working modes of the system; meanwhile, determining an optimal control mode of the man-machine co-driving type electric power steering system;
and 5) judging the threshold value of the real-time torque and the threshold value of the angular velocity, and performing hybrid switching on the working mode of the hybrid controller (3) of the man-machine co-driving type electric power steering according to discrete input signals inside and outside the system.
5. The hybrid theory-based control method for the man-machine co-driving type electric power steering system according to claim 4, wherein the specific process of establishing the humanoid steering rule base in the step 1) is as follows: according to a large amount of test data, vehicle parameters under various working conditions are extracted, rules are summarized, and a corresponding relation is formed between the typical working conditions and the vehicle parameters.
6. The hybrid theory-based control method of the man-machine co-driving type electric power steering system according to claim 4, wherein the steering conditions of the man-machine co-driving type electric power steering system in the step 2) include lane change driving, lane keeping, curve driving and emergency avoidance.
7. The control method of the hybrid theory-based human-machine co-driving type electric power steering system according to claim 4, wherein the working modes of the human-machine co-driving type electric power steering hybrid controller (3) comprise a driving small rotation angle mode m1Driving large corner mode m for motorcycle2'returning' mode m for motorcycle3Damping mode m for motorcycle4'power assisting' mode m for man-driving5。
8. The hybrid theory-based control method of the human-machine co-driving type electric power steering system according to claim 6 or 7,
Td,0is the upper limit value, T, of the torque dead zone range of the steering motor (5)maxMaximum torque value, T, for the output of the steering motor (5)aIs Td,0And TmaxA set torque value;
when the vehicle runs in lane changing driving or lane keeping steering working condition, if the front-mounted torque/steering angle sensor (1) has no torque value, and the torque value T of the rear-mounted torque/steering angle sensor (2) meets Td,0＜T＜TaAnd simultaneously, when the real-time torque and the direction of the corner speed are the same, judging that the motor vehicle enters a driving small corner mode m1；
When the vehicle runs on a curve or in an emergency avoidance working condition, if the front-mounted torque/corner sensor (1) has no torque value, and the torque value T of the rear-mounted torque/corner sensor (2) meets Ta＜T＜TmaxSimultaneous real-time torque and angle of rotationWhen the speed direction is the same, judging that the motor vehicle enters a driving large-rotation-angle mode m2；
When the vehicle runs in lane changing running or lane keeping working condition, if the front-mounted torque/corner sensor (1) has no torque value, and the torque value T of the rear-mounted torque/corner sensor (2) meets Ta＜T＜TmaxAnd when the real-time torque and the direction of the turning angular speed are opposite, judging to enter a driving return mode m3；
When the vehicle runs in the lane changing running or lane keeping working condition, if the front torque/corner sensor (1) has no torque value, and the torque value T of the rear torque/corner sensor (2) meets the condition that 0 < Td,0And when the real-time torque and the direction of the turning angular speed are the same, judging that the motor vehicle enters a damping mode m4；
When the vehicle runs under any working condition, if the front torque/rotation angle sensor (1) has a torque value, the torque value is maintained for more than 3s, and the torque value T' of the front torque/rotation angle sensor (1) meets Td,0＜T′＜TmaxJudging to enter a 'boosting' mode m for human driving5。
9. The hybrid theory-based control method for the man-machine co-driving type electric power steering system according to claim 4, wherein the discrete input signals in the system in the step 5) refer to the evolution of working modes caused by continuous and dynamic operation of various working modes of the co-driving type electric power steering hybrid controller (3); external discrete input signals include external disturbances and system skew.
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| CN107727417B (en) * | 2017-09-11 | 2020-07-31 | 江苏大学 | Hardware-in-loop simulation test platform for man-machine co-driving steering system |
| CN108725453A (en) * | 2018-06-11 | 2018-11-02 | 南京航空航天大学 | Control system and its switch mode are driven altogether based on pilot model and manipulation the man-machine of inverse dynamics |
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| CN109885040B (en) * | 2019-02-20 | 2022-04-26 | 江苏大学 | Vehicle driving control right distribution system in man-machine driving |
| CN110104055B (en) * | 2019-04-08 | 2021-05-25 | 南京航空航天大学 | Mode switching hybrid control system of timely four-wheel-drive composite steering system |
| CN111196310B (en) * | 2020-01-21 | 2022-06-07 | 南京艾格慧元农业科技有限公司 | Self-induction type reversing device and method for agricultural machinery electrically-driven steering wheel |
| CN112373556A (en) * | 2020-11-29 | 2021-02-19 | 上海龙创汽车设计股份有限公司 | Steering system of unmanned four-wheel independent steering chassis platform of low-speed vehicle |
| CN113619563B (en) * | 2021-09-06 | 2022-08-30 | 厦门大学 | Intelligent electric vehicle transverse control system and method based on man-machine sharing |
| CN114323698B (en) * | 2022-02-11 | 2023-09-08 | 吉林大学 | Real vehicle experiment platform testing method for man-machine co-driving intelligent vehicle |
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Application publication date: 20170104 Assignee: Jiangsu Gang Yang steering system Co., Ltd Assignor: Jiangsu University Contract record no.: 2018320000242 Denomination of invention: Man-machine co-driving type electric power steering system based on hybrid theory and control method Granted publication date: 20180810 License type: Exclusive License Record date: 20181025 |