CN106741132A - The controller and its control method of a kind of multi-mode active front steering system - Google Patents

The controller and its control method of a kind of multi-mode active front steering system Download PDF

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Publication number
CN106741132A
CN106741132A CN201611021280.XA CN201611021280A CN106741132A CN 106741132 A CN106741132 A CN 106741132A CN 201611021280 A CN201611021280 A CN 201611021280A CN 106741132 A CN106741132 A CN 106741132A
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China
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steering
power
energy consumption
assisted
output
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CN201611021280.XA
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CN106741132B (en
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栾众楷
赵万忠
王春燕
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses the controller and its control method of a kind of multi-mode active front steering system, with system energy consumption function as control targe, control is coordinated to system multiple power-assisted actuation mechanism；Wherein, system energy consumption function includes energy consumption of electrical machinery, hydraulic mechanism energy consumption, controller energy consumption and mechanical steering gear energy consumption；Sensor assembly gathers steering each several part signal and is transferred to energy spectrometer module, by energy spectrometer module solving system energy consumption function, and result of calculation is transferred to electronic control unit, electronic control unit is with system energy consumption function as control targe, system ideal assist characteristic is as constraints, control is coordinated to system multiple power-assisted actuation mechanism, the steering economy in the case where the constraints output preferable power-assisted curve of power-assisted satisfaction is ensured is realized.

Description

The controller and its control method of a kind of multi-mode active front steering system
Technical field
The present invention relates to automobile assisted power steering system control technology field, refer specifically to for a kind of multi-mode active front steering system Energy consumption-assist controller and its control method.
Background technology
Energy-saving and environmental protection and safety are three big themes of world today's automotive technology development, increasingly tight with energy crisis High, vehicle fuel consumes the increasingly severe of regulation, and all assemblies, parts on automobile all should be towards the directions of energy-conserving and environment-protective Development.The energy ezpenditure of automobile occupies sizable proportion in national economy, and it also generates useless while consumed energy Gas, pollutes environment, while global warming can be caused, therefore countries in the world government also quite weighs to the energy ezpenditure of automobile now Depending on.
Electric boosting steering system EPS compared with traditional hydraulic power steering, with a series of advantage：Energy-saving ring Protect, it is good to the adaptability of cold climate, enhance steering trackability, improve back positive characteristic, improve control stability, be easy to Adjustment assist characteristic, readily packaged and assembling, easy to maintain and maintenance, according to the research of KOYO companies, car dress EPS 3~5% can be reduced than dress hydraulic power steering system fuel consumption, but by the automobile electrical characteristic shadow such as battery tension in itself Ring, the maximum power-assisted square of its output is smaller, is unsatisfactory for the demand of the vehicles such as motorbus.The hydraulic booster that existing automobile is used turns Larger power-assisted can be provided under automobile speed operation to system, mitigates burden when driver turns to；But turned under high-speed working condition Road feel is poor, and control stability has problem.
At present, domestic and international steering generally uses fixed drive ratio, and steering wheel is heavy under easily there is low speed, lower turn at a high speed To excessively waiting dangerous working condition, the strong influence control stability of automobile.Ideally, steering is in automobile low speed row There should be larger gearratio when sailing, to realize mitigating driver's burden, reach good ease of steering；Should have in high speed compared with Small gearratio, ensures driving safety, obtains good steering response.
Therefore, the relation between energy consumption based on steering and output power-assisted, design a kind of " energy consumption-power-assisted " control Device, can realize Vehicular turn portability and turns to being perfectly combined for economy when multi-mode steering system is in composite mode, Have broad application prospects.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, it is an object of the invention to provide a kind of multi-mode active front steering system Controller and its control method, it is poor to solve hydraulic power-assist steering system steering economy, control stability in the prior art The problems such as.
To reach above-mentioned purpose, a kind of controller of multi-mode active front steering system of the invention, including：Energy spectrometer mould Block, sensor assembly, electronic control unit, active steering controlling organization, active steering executing agency, electronic-controlled power steering control machine Structure, electronic-controlled power steering executing agency, mechanical steering gear；
Described sensor assembly gathers electronic control unit, active steering controlling organization, electronic-controlled power steering control machine respectively Structure, electronic-controlled power steering executing agency, the consumption information of mechanical steering gear, and transmit signal to energy spectrometer module and be analyzed meter Calculate, then output signal to electronic control unit；Electronic control unit is according to input signal respectively to above-mentioned corresponding control machine Structure exports Serve Motor Control signal b, c, d, and direct torque is carried out to servomotor A, B, C, corresponding by Serve Motor Control Executing agency according to control strategy output torque；
Described active steering controlling organization includes：Servomotor C；Active steering executing agency includes：Electric pushrod, One reducing gear and planetary gearsets；Described servomotor C receives the Serve Motor Control of above-mentioned electronic control unit output Signal b, and output torque sequentially passes through electric pushrod, the first reducing gear, the lower ring gear of planetary gearsets, to mechanical steering machine Structure；
Described electronic-controlled power steering controlling organization includes：Servomotor A and servo motor B；Described electronic-controlled power steering performs machine Structure includes：Hydraulic pump, oil storage tank, rotary valve, servohydraulic cylinder, the second reducing gear and power-assisted coupler；Described servomotor A Serve Motor Control the signal c and d of above-mentioned electronic control unit output are received respectively with servo motor B, according to corresponding control plan Slightly, servomotor A output torques are adjusted by control signal c, by the second reducing gear output to power-assisted coupler；By control Signal d processed adjusts servo motor B output torque, drives hydraulic pressure pump operation, the high pressure power-assisted fluid of generation sequentially pass through oil storage tank, Rotary valve, servohydraulic cylinder form pressure difference so as to produce power-assisted and export to power-assisted coupler, and coupled power-assisted is exported to machinery Steering mechanism；
Described mechanical steering gear includes：Steering wheel, steering column, steering gear and pitman arm, by steering wheel to machine Tool steering mechanism input torque, diverted post, steering gear, pitman arm are exported to wheel torque successively, realize steering operation.
Preferably, after the motor speed signal of above-mentioned sensor assembly collection is calculated through energy spectrometer module, will solve Result is delivered to electronic control unit；And the speed that will collect of sensor assembly, steering wheel angle signal are directly output to electricity Sub-control unit.
A kind of control method of multi-mode active front steering system of the invention, comprises the following steps：
(1) the input and output energy stream to multi-mode active front steering system is analyzed, and system capacity stream is equivalent into electricity The function of stream, system input energy includes that driver is input into Pin1(I), electric energy input Pin2(I)；Output energy includes controller energy Consumption Pout1(I), energy consumption of electrical machinery Pout2, hydraulic module energy consumption Pout3And system output power Pout4, obtain system total energy consumption function Pw(I), computing formula is as follows：
In formula, RAIt is armature resistance；IAIt is armature supply；UsIt is controller both end voltage；RelecIt is controller resistance；Mci The torque loss caused to be rubbed in motor；CFrFor speed compares coefficient of friction；ωiIt is motor speed；CFr2It is that speed is than a square friction Number；CiIt is motor unknown losses；PsIt is the output pressure of boost pump；Q is power-assisted pumpage；QsIt is power-assisted POF；ρ is Power-assisted fluid density；CqIt is discharge coefficient；AiIt is i-th orifice size of valve port；ApIt is servohydraulic cylinder cross-sectional area；xrFor Steering nut displacement；
System total energy consumption function Pw(I) computational methods are：
Pw(I)=K1Pout1+K2Pout2+K3Pout3+K4Pout4
In formula：K1、K2、K3、K4It is coefficient of energy dissipation；
(2) based on H∞Control theory designs controller and constitutes closed-loop system with original system, and closed-loop system is solved, and obtains To the total energy consumption function P of system outputw(I) minimum value, and calculate as system total energy consumption function Pw(I) when obtaining minimum value, electronics The control electric current I of output needed for control unitminSize；
The control electric current IminNumerical value must meet restrictive condition：Electronic-controlled power steering module TdTracking assisting echo signal Td * And active steering module TzTracking corner echo signal Tz *, i.e.,：
Beneficial effects of the present invention：
1st, comprehensive energy consumption of electrical machinery, hydraulic mechanism energy consumption, controller energy consumption, mechanical steering gear energy consumption, propose system energy consumption Function is simultaneously solved by energy spectrometer module, and electronic control unit ECU is with system energy consumption function as control targe, system reason Assist characteristic is thought for constraints, control is coordinated to system multiple power-assisted actuation mechanism, realize the work(of multi-mode steering Energy；
2nd, variable ratio control is carried out to steering by steering motor, planetary gearsets, is helped so as to be combined in electric-liquid The function of active steering is realized on the basis that power is turned to, by active steering intervention by the economy of automobile assisted power steering and spirit Activity is combined；Steering wheel torque control precision is improve, the control stability of vehicle drive is improve, realizes that motor turning is light Just property and steering response are perfectly combined.
Brief description of the drawings
Fig. 1 illustrates multi-mode active front steering system mechanical construction drawing.
Fig. 2 illustrates the structural principle block diagram of controller of the present invention.
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 accompanying drawing It is bright, the content that implementation method is referred to not limitation of the invention.
Shown in reference picture 1, Fig. 2, a kind of multi-mode active front steering system, including：Steering wheel 1, sensor assembly 2, steering Post 3, planetary gearsets 4, steering gear 7, electronic control unit (ECU) 12, pitman arm 17, servomotor C14, electric pushrod 19th, the first reducing gear 13, servomotor A6, the second reducing gear 5, servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8th, servohydraulic cylinder 15 and power-assisted coupler 16；
Described steering wheel 1 connects the moment input end of steering column 3, and sensor assembly 2 is placed in steering wheel 1 and steering column 3 Between, and be connected with electronic control unit (ECU) 12, torque output end and the input of planetary gearsets 4 of steering column 3 connect Connect, corner correcting module provides amendment torque by the lower ring gear in planetary gearsets 4 to steering, and steering moment is through planet The output end of gear train 4, steering gear 7, output to pitman arm 17, power steering module provide steering and help to ball-and-nut steering gear 7 Torque.Electronic control unit (ECU) 12 is by Serve Motor Control signal b to servomotor C14 and the first reducing gear 13, electricity Dynamic push rod 19 is controlled, power-assisted square slow down through the first reducing gear 13 increase square after pass to electric pushrod 19, to planetary gear The lower ring gear of group 4, realizes variable ratio corner Correction and Control；Servomotor A6, the second reducing gear 5 constitutes electric boosted mould Block, electronic control unit (ECU) 12 is controlled by Serve Motor Control signal c to servomotor A6, and power-assisted square is through second The deceleration of reducing gear 5 passes to power-assisted coupler 16 after increasing square；Servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8, hydraulic pressure Servo-cylinder 15 constitutes hydraulic booster module, and electronic control unit (ECU) 12 is by Serve Motor Control signal d to power-assisted servo electricity Machine B10 is controlled, and drives hydraulic pump 9 that power-assisted fluid is pumped into servohydraulic cylinder 15 through rotary valve 8 from oil storage tank 11, is helped in hydraulic pressure The two ends of power cylinder 15 form pressure difference, so as to produce power-assisted, power-assisted square passes to power-assisted coupler 16, and power-assisted coupler 16 is by resultant moment It is transferred to pitman arm 17.
Shown in reference picture 2, a kind of controller of multi-mode active front steering system of the invention is applied in the present embodiment In above-mentioned multi-mode active front steering system, including：Energy spectrometer module 18, sensor assembly 2, electronic control unit (ECU) 12, Active steering controlling organization, active steering executing agency, electronic-controlled power steering controlling organization, electronic-controlled power steering executing agency, mechanical steering Mechanism；
Described sensor assembly gathers electronic control unit 12, active steering controlling organization, active steering and performs respectively Mechanism, electronic-controlled power steering controlling organization, electronic-controlled power steering executing agency, the consumption information of mechanical steering gear, and transmit signal to energy Amount analysis module 18 is analyzed calculating, then outputs signal to electronic control unit 12；Electronic control unit 12 is according to input Signal to above-mentioned corresponding controlling organization output Serve Motor Control signal b, c, controls corresponding executing agency according to control respectively The tactful output torque of system；
Described active steering controlling organization includes：Servomotor C14；The active steering executing agency includes：It is electronic The reducing gear 13 of push rod 19 and first and planetary gearsets 4；It is defeated that described servomotor C14 receives above-mentioned electronic control unit 12 The Serve Motor Control signal b for going out, and output torque sequentially passes through electric pushrod 19, the first reducing gear 13, planetary gearsets 4 Lower ring gear, to mechanical steering gear；
Described electronic-controlled power steering controlling organization includes：Servomotor A6 and servo motor B 10；Described electronic-controlled power steering is performed Mechanism includes：Hydraulic pump 9, oil storage tank 11, rotary valve 8, servohydraulic cylinder 15, the second reducing gear 5 and power-assisted coupler 16；It is described Servomotor A6 and servo motor B 10 receive respectively the Serve Motor Control signal c of the output of above-mentioned electronic control unit 12 with D, according to corresponding control strategy, servomotor A6 output torques is adjusted by control signal c, is exported by the second reducing gear 5 To power-assisted coupler 16；The output torque of servo motor B 10 is adjusted by control signal d, drives hydraulic pump 9 to run, the height of generation Pressure power-assisted fluid sequentially passes through oil storage tank 11, rotary valve 8, servohydraulic cylinder 15 and forms pressure difference so as to produce power-assisted and export to power-assisted Coupler 16, coupled power-assisted is exported to mechanical steering gear；
Described mechanical steering gear includes：Steering wheel 1, steering column 3, steering gear 7, pitman arm 17, by steering wheel 1 To mechanical steering gear input torque, diverted post 3, steering gear 7 are exported to pitman arm 17 torque successively, realize turning to behaviour Make.
In embodiment, the collection of sensor assembly 2 speed, steering-wheel torque, the vehicle such as motor speed are in the process of moving Live signal, to collection signal be filtered, noise reduction process, (sensor measured amount a part based on energy consumption analysis module 18 Energy consumption is calculated, electronic control unit 12 is passed to after calculating；Another part is directly transmitted to electronic control unit 12 and calculates power-assisted, then Electronic control unit 12 is according to " energy consumption and power-assisted " downward one-level mechanism output control signal)；
Measured value needed for motor speed signal etc. is calculated energy consumption function by sensor assembly 2 is delivered to energy spectrometer module 18, energy spectrometer module 18 is analyzed to collection result, and energy consumption of electrical machinery, controller energy consumption, hydraulic module energy consumption are calculated respectively And system output power, by the energy consumption signal transmission of each several part to electronic control unit 12；
Energy consumption of electrical machinery, controller energy consumption, fluid die that electronic control unit 12 is calculated according to energy spectrometer module 18 The part such as block energy consumption, system output power energy consumption signal of change total energy consumption function, and take minimum value conduct according to total energy consumption function The control targe of controller, to active steering controlling organization, electronic-controlled power steering controlling organization output control electric current, drives corresponding execution Mechanism is run with most economical rotating speed ratio, so that the energy consumption size of whole system each several part mechanism in the course of the work is reduced, Realize the purpose of energy-conservation.
Meanwhile, electronic control unit 12 obtains electronic-controlled power steering executing agency and exports according to the information that sensor assembly 2 is gathered Actual power-assisted size, and active steering executing agency output actual assistant corner size, solved as controller Constraints in journey, prevents the control action to energy consumption due to controller, causes system actuator to export power-assisted, auxiliary and turns Angle influences the control stability of vehicle much smaller than power-assisted, the ideal value of assistant corner under the operating mode.
A kind of control method of multi-mode active front steering system of the invention, comprises the following steps：
(1) the input and output energy stream to multi-mode active front steering system is analyzed, and system capacity stream is equivalent into electricity The function of stream, system input energy includes that driver is input into Pin1(I), electric energy input Pin2(I)；Output energy includes controller energy Consumption Pout1(I), energy consumption of electrical machinery Pout2, hydraulic module energy consumption Pout3And system output power Pout4, obtain system total energy consumption function Pw(I), computing formula is as follows：
In formula, RAIt is armature resistance；IAIt is armature supply；UsIt is controller both end voltage；RelecIt is controller resistance；Mci The torque loss caused to be rubbed in motor；CFrFor speed compares coefficient of friction；ωiIt is motor speed；CFr2It is that speed is than a square friction Number；CiIt is motor unknown losses；PsIt is the output pressure of boost pump；Q is power-assisted pumpage；QsIt is power-assisted POF；ρ is Power-assisted fluid density；CqIt is discharge coefficient；AiIt is i-th orifice size of valve port；ApIt is servohydraulic cylinder cross-sectional area；xrFor Steering nut displacement；
System total energy consumption function Pw(I) computational methods are：
Pw(I)=K1Pout1+K2Pout2+K3Pout3+K4Pout4
In formula：K1、K2、K3、K4It is coefficient of energy dissipation；
(2) based on H∞Control theory designs controller and constitutes closed-loop system with original system, and closed-loop system is solved, and obtains To the total energy consumption function P of system outputw(I) minimum value, and calculate as system total energy consumption function Pw(I) when obtaining minimum value, electronics The control electric current I of output needed for control unitminSize；
The control electric current IminNumerical value must meet restrictive condition：Electronic-controlled power steering module TdTracking assisting echo signal Td * And active steering module TzTracking turns to echo signal Tz *, i.e.,：
By the present invention, it is public that vehicle obtains system components energy consumption calculation according to quantity of states such as speeds in the process of moving Formula, is derived by system energy consumption function, and with system energy consumption function as control targe, system multiple power-assisted actuation mechanism is carried out Coordinate control, effectively increase control stability and driving safety of the vehicle in high speed, and with existing hydraulic booster system System is compared, energy loss when reducing vehicle high-speed and during non-steering situation, therefore with wide market prospects.
Concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, it is noted that for For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this A little improvement also should be regarded as protection scope of the present invention.

Claims (3)

1. a kind of controller of multi-mode active front steering system, it is characterised in that including：Energy spectrometer module, sensor assembly, Electronic control unit, active steering controlling organization, active steering executing agency, electronic-controlled power steering controlling organization, electronic-controlled power steering are performed Mechanism, mechanical steering gear；
Described sensor assembly gathers electronic control unit, active steering controlling organization, electronic-controlled power steering controlling organization, dynamic respectively Power turns to executing agency, the consumption information of mechanical steering gear, and transmits signal to energy spectrometer module and be analyzed calculating, so After output signal to electronic control unit；Electronic control unit is exported to above-mentioned corresponding controlling organization respectively according to input signal Serve Motor Control signal b, c, d, direct torque is carried out to servomotor A, B, C, is performed accordingly by Serve Motor Control Mechanism is according to control strategy output torque；
Described active steering controlling organization includes：Servomotor C；Active steering executing agency includes：Electric pushrod, first subtract Fast mechanism and planetary gearsets；Described servomotor C receives the Serve Motor Control signal of above-mentioned electronic control unit output B, and output torque sequentially passes through electric pushrod, the first reducing gear, the lower ring gear of planetary gearsets, to mechanical steering gear；
Described electronic-controlled power steering controlling organization includes：Servomotor A and servo motor B；Described electronic-controlled power steering executing agency bag Include：Hydraulic pump, oil storage tank, rotary valve, servohydraulic cylinder, the second reducing gear and power-assisted coupler；Described servomotor A with watch Serve Motor Control signal c and d that motor B receives above-mentioned electronic control unit output respectively are taken, according to corresponding control strategy, is led to Control signal c regulation servomotor A output torques are crossed, by the second reducing gear output to power-assisted coupler；By controlling to believe Number d regulation servo motor B output torque, drives the high pressure power-assisted fluid of hydraulic pressure pump operation, generation to sequentially pass through oil storage tank, turn Valve, servohydraulic cylinder form pressure difference so as to produce power-assisted and export to power-assisted coupler, and coupled power-assisted is exported to machinery and turned To mechanism；
Described mechanical steering gear includes：Steering wheel, steering column, steering gear and pitman arm, are turned by steering wheel to machinery To mechanism's input torque, diverted post, steering gear, pitman arm are exported to wheel torque successively, realize steering operation.
2. the controller of multi-mode active front steering system according to claim 1, it is characterised in that above-mentioned sensor die After the motor speed signal of block collection is calculated through energy spectrometer module, solving result is delivered to electronic control unit；And sensing Speed that device module will be collected, steering wheel angle signal are directly output to electronic control unit.
3. a kind of control method of multi-mode active front steering system, it is characterised in that comprise the following steps：
(1) the input and output energy stream to multi-mode active front steering system is analyzed, and system capacity stream is equivalent into electric current Function, system input energy includes that driver is input into Pin1(I), electric energy input Pin2(I)；Output energy includes controller energy consumption Pout1(I), energy consumption of electrical machinery Pout2, hydraulic module energy consumption Pout3And system output power Pout4, obtain system total energy consumption function Pw (I), computing formula is as follows：
P o u t 1 ( I ) = R A I A 2 + U s 2 R e l e c P o u t 2 = ΣM c i + C F r Σω i + C F r 2 Σω i 2 + ΣC i P o u t 3 = P s q 2 π ω - P s Q s P o u t 4 = ρ 8 ( C q A 1 ) 2 ( Q s + A p dx r d t ) 3 + ρ 8 ( C q A 2 ) 2 ( Q s - A p dx r d t ) 3
In formula, RAIt is armature resistance；IAIt is armature supply；UsIt is controller both end voltage；RelecIt is controller resistance；MciIt is electricity Rub the torque loss for causing in machine；CFrFor speed compares coefficient of friction；ωiIt is motor speed；CFr2It is fast ratio square coefficient of friction； CiIt is motor unknown losses；PsIt is the output pressure of boost pump；Q is power-assisted pumpage；QsIt is power-assisted POF；ρ is power-assisted Fluid density；CqIt is discharge coefficient；AiIt is i-th orifice size of valve port；ApIt is servohydraulic cylinder cross-sectional area；xrTo turn to Nut displacement；
System total energy consumption function Pw(I) computational methods are：
Pw(I)=K1Pout1+K2Pout2+K3Pout3+K4Pout4
In formula：K1、K2、K3、K4It is coefficient of energy dissipation；
(2) based on H∞Control theory designs controller and constitutes closed-loop system with original system, and closed-loop system is solved, and is Unite the total energy consumption function P for exportingw(I) minimum value, and calculate as system total energy consumption function Pw(I) when obtaining minimum value, Electronic Control The control electric current I of output needed for unitminSize；
The control electric current IminNumerical value must meet restrictive condition：Electronic-controlled power steering module TdTracking assisting echo signal Td *And it is main Dynamic steering module TzTracking turns to echo signal Tz *, i.e.,：
CN201611021280.XA 2016-11-15 2016-11-15 Controller of multi-mode active steering system and control method thereof Active CN106741132B (en)

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Publication number Priority date Publication date Assignee Title
CN107776659A (en) * 2017-09-30 2018-03-09 安徽江淮汽车集团股份有限公司 Compound assisted power steering system
CN109318982A (en) * 2018-08-02 2019-02-12 江苏大学 A kind of hybrid power steering system characteristic parameter matching method
CN110588769A (en) * 2019-10-21 2019-12-20 清华大学 Wire-controlled steering system and control method thereof
WO2023056751A1 (en) * 2021-10-09 2023-04-13 南京航空航天大学 Electro-hydraulic integrated steering system and multi-parameter coupling optimization method thereof

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CN103523076A (en) * 2012-07-05 2014-01-22 现代自动车株式会社 Hybrid motor driven power steering system for commercial vehicle and method of improving performance and fuel efficiency through control thereof
US20140311814A1 (en) * 2011-09-07 2014-10-23 Cnh Industrial America Llc Steerable vehicle

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CN101700786A (en) * 2009-11-09 2010-05-05 南京航空航天大学 Recirculating-ball electric power-assisted steering system with variable transmission ratio for bus and control method thereof
US20140311814A1 (en) * 2011-09-07 2014-10-23 Cnh Industrial America Llc Steerable vehicle
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CN107776659A (en) * 2017-09-30 2018-03-09 安徽江淮汽车集团股份有限公司 Compound assisted power steering system
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CN109318982B (en) * 2018-08-02 2021-05-25 江苏大学 Parameter matching method for hybrid power steering system
CN110588769A (en) * 2019-10-21 2019-12-20 清华大学 Wire-controlled steering system and control method thereof
CN110588769B (en) * 2019-10-21 2020-07-28 清华大学 Wire-controlled steering system and control method thereof
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