CN106741132B - Controller of multi-mode active steering system and control method thereof - Google Patents
Controller of multi-mode active steering system and control method thereof Download PDFInfo
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- CN106741132B CN106741132B CN201611021280.XA CN201611021280A CN106741132B CN 106741132 B CN106741132 B CN 106741132B CN 201611021280 A CN201611021280 A CN 201611021280A CN 106741132 B CN106741132 B CN 106741132B
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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
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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
- B62D5/0481—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
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a controller of a multi-mode active steering system and a control method thereof, which take a system energy consumption function as a control target and carry out coordination control on a plurality of power-assisted actuating mechanisms of the system; the system energy consumption function comprises motor energy consumption, hydraulic mechanism energy consumption, controller energy consumption and mechanical steering mechanism energy consumption; the sensor module collects signals of all parts of the steering system and transmits the signals to the energy analysis module, the energy analysis module is used for solving a system energy consumption function and transmitting a calculation result to the electronic control unit, the electronic control unit takes the system energy consumption function as a control target and an ideal power-assisted characteristic of the system as a constraint condition, and performs coordination control on a plurality of power-assisted executing mechanisms of the system, so that the steering economy under the condition that the output power of the constraint condition meets an ideal power-assisted curve is guaranteed.
Description
Technical Field
The invention relates to the technical field of control of an automobile power-assisted steering system, in particular to an energy consumption-power-assisted controller of a multi-mode active steering system and a control method thereof.
Background
Energy conservation, environmental protection and safety are three main subjects of automobile technology development in the world, along with the increasing severity of energy crisis and the increasing strictness of automobile fuel consumption regulations, all assemblies and parts on automobiles should be developed towards the direction of energy conservation and environmental protection. The energy consumption of automobiles accounts for a considerable proportion in national economy, and the energy consumption also generates exhaust gas, pollutes the environment and causes global warming at the same time, so that governments in all countries around the world pay considerable attention to the energy consumption of automobiles at present.
Compared with the conventional hydraulic power steering, the electric power steering system EPS has a series of advantages: the EPS system for the car can reduce the fuel consumption by 3-5% compared with a hydraulic power steering system for the car according to the research of KOYO company, but is influenced by the electrical characteristics such as the voltage of a storage battery of the car, the maximum output torque of the EPS system is small, and the requirements of vehicles such as a large bus and the like are not met. The hydraulic power-assisted steering system adopted by the existing automobile can provide larger power assistance under the low-speed working condition of the automobile, and the burden of a driver during steering is reduced; however, steering road feel is poor under a high-speed working condition, and the problem of operation stability exists.
At present, a steering system at home and abroad generally adopts a fixed transmission ratio, dangerous working conditions such as heavy steering wheel at low speed, excessive steering at high speed and the like easily occur, and the operation stability of an automobile is greatly influenced. Under ideal conditions, a steering system has a larger transmission ratio when the automobile runs at low speed so as to reduce the burden of a driver and achieve good steering portability; and a smaller transmission ratio is needed at a high speed, so that the driving safety is guaranteed, and a good steering road feel is obtained.
Therefore, based on the relation between the energy consumption and the output power of the steering system, the energy consumption-power assisting controller is designed, so that the perfect integration of the steering portability and the steering economy of the vehicle can be realized when the multi-mode steering system is in a composite mode, and the energy consumption-power assisting controller has a wide application prospect.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a controller of a multi-mode active steering system and a control method thereof, so as to solve the problems of poor steering economy and poor operation stability of the hydraulic power steering system in the prior art.
To achieve the above object, a controller of a multimode active steering system according to the present invention includes: the system comprises an energy analysis module, a sensor module, an electronic control unit, an active steering control mechanism, an active steering execution mechanism, a power steering control mechanism, a power steering execution mechanism and a mechanical steering mechanism;
the sensor module respectively collects energy consumption information of the electronic control unit, the active steering control mechanism, the power steering actuating mechanism and the mechanical steering mechanism, transmits signals to the energy analysis module for analysis and calculation, and then outputs the signals to the electronic control unit; the electronic control unit respectively outputs servo motor control signals B, C and d to the corresponding control mechanisms according to the input signals, carries out torque control on the servo motors A, B and C, and controls the corresponding execution mechanisms to output torque according to control strategies through the servo motors;
the active steering control mechanism comprises: a servo motor C; the active steering actuator includes: the electric push rod, the first speed reducing mechanism and the planetary gear set are arranged on the first gear; the servo motor C receives a servo motor control signal b output by the electronic control unit and outputs torque to the mechanical steering mechanism after sequentially passing through the electric push rod, the first speed reducing mechanism and the lower gear ring of the planetary gear set;
the power steering control mechanism includes: a servo motor A and a servo motor B; the power steering actuator includes: the hydraulic pump, the oil storage tank, the rotary valve, the hydraulic power-assisted cylinder, the second speed reducing mechanism and the power-assisted coupler; the servo motor A and the servo motor B respectively receive servo motor control signals c and d output by the electronic control unit, the output torque of the servo motor A is adjusted through the control signal c according to a corresponding control strategy, and the output torque is output to the power-assisted coupler through the second speed reducing mechanism; the output torque of the servo motor B is adjusted through a control signal d, a hydraulic pump is driven to operate, the generated high-pressure boosting oil sequentially passes through an oil storage tank, a rotary valve and a hydraulic boosting cylinder to form differential pressure so as to generate boosting force and output the boosting force to a boosting coupler, and the coupled boosting force is output to a mechanical steering mechanism;
the mechanical steering mechanism comprises: the steering wheel inputs torque to the mechanical steering mechanism, and the torque is output to wheels through the steering column, the steering device and the steering rocker arm in sequence to realize steering operation.
Preferably, after the motor rotating speed signal acquired by the sensor module is calculated by the energy analysis module, the solved result is transmitted to the electronic control unit; and the sensor module directly outputs the acquired vehicle speed and steering wheel angle signals to the electronic control unit.
The invention discloses a control method of a multi-mode active steering system, which comprises the following steps:
(1) Analyzing input and output energy flow of the multi-mode active steering system, and enabling the system energy flow to be equivalent to a function of current, wherein the system input energy comprises driver input P in1 (I) Electric energy input P in2 (I) (ii) a The output energy comprises controller energy consumption P out1 (I) Energy consumption P of motor out2 Energy consumption P of hydraulic module out3 And system output power P out4 Obtaining the total energy consumption function P of the system w (I) The calculation formula is as follows:
in the formula, R A Is an armature resistance; i is A Is the armature current; u shape s Is the voltage across the controller; r elec A controller resistance; m is a group of ci Torque loss due to friction in the motor; c Fr Is the velocity ratio coefficient of friction; omega i The motor rotation speed; c Fr2 Is the velocity ratio squared friction coefficient; c i Other losses of the motor; p s Is the output pressure of the booster pump; q is the displacement of the booster pump; q s The output flow of the booster pump is output; rho is the density of the boosting oil liquid; c q Is the flow coefficient; a. The i The throttle area of the ith valve port; a. The p The cross section area of the hydraulic power cylinder is shown; x is the number of r Shifting the steering nut;
total energy consumption function P of system w (I) The calculation method comprises the following steps:
P w (I)＝K 1 P out1 +K 2 P out2 +K 3 P out3 +K 4 P out4
in the formula: k 1 、K 2 、K 3 、K 4 The energy consumption coefficient;
(2) Based on H ∞ The control theory design controller and the original system form a closed-loop system, the closed-loop system is solved, and the total energy consumption function P output by the system is obtained w (I) Minimum value, and calculating the total energy consumption function P of the system w (I) Obtaining the minimum valueControl current I required to be output by the electronic control unit min Size;
the control current I min The value of (c) must satisfy the constraint: power steering module T d Tracking power-assisted target signal T d * And an active steering module T z Tracking corner target signal T z * Namely:
the invention has the beneficial effects that:
1. the energy consumption of a motor, the energy consumption of a hydraulic mechanism, the energy consumption of a controller and the energy consumption of a mechanical steering mechanism are integrated, a system energy consumption function is provided and solved through an energy analysis module, and an Electronic Control Unit (ECU) coordinates and controls a plurality of power-assisted execution mechanisms of the system by taking the system energy consumption function as a control target and taking the ideal power-assisted characteristic of the system as a constraint condition, so that the function of multi-mode steering is realized;
2. the steering system is subjected to variable transmission ratio control through a steering motor and a planetary gear set, so that the active steering function is realized on the basis of electro-hydraulic composite power-assisted steering, and the economy and the flexibility of the automobile power-assisted steering are combined through active steering intervention; the control precision of the torque of the steering wheel is improved, the control stability of vehicle driving is improved, and the perfect integration of the steering portability and the steering road feel of the automobile is realized.
Drawings
FIG. 1 is a mechanical block diagram of a multi-mode active steering system.
FIG. 2 is a schematic block diagram of the controller according to the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 and 2, a multimode active steering system includes: the steering system comprises a steering wheel 1, a sensor module 2, a steering column 3, a planetary gear set 4, a steering gear 7, an Electronic Control Unit (ECU) 12, a steering rocker arm 17, a servo motor C14, an electric push rod 19, a first speed reducing mechanism 13, a servo motor A6, a second speed reducing mechanism 5, a servo motor B10, a hydraulic pump 9, an oil storage tank 11, a rotary valve 8, a hydraulic power cylinder 15 and a power coupler 16;
the steering wheel 1 is connected with a torque input end of a steering column 3, the sensor module 2 is arranged between the steering wheel 1 and the steering column 3 and is connected with an Electronic Control Unit (ECU) 12, a torque output end of the steering column 3 is connected with an input end of the planetary gear set 4, the corner correction module provides correction torque for a steering system through a lower gear ring in the planetary gear set 4, the steering torque is output to a steering rocker 17 through an output end of the planetary gear set 4 and a steering device 7, and the steering power assisting module provides steering assisting torque for the recirculating ball steering device 7. An Electronic Control Unit (ECU) 12 controls a servo motor C14, a first speed reducing mechanism 13 and an electric push rod 19 through a servo motor control signal b, and the boosting torque is transmitted to the electric push rod 19 and a lower gear ring of the planetary gear set 4 after being subjected to speed reduction and torque increase by the first speed reducing mechanism 13, so that variable transmission ratio corner correction control is realized; the servo motor A6 and the second speed reducing mechanism 5 form an electric power assisting module, an Electronic Control Unit (ECU) 12 controls the servo motor A6 through a servo motor control signal c, and the power assisting moment is transmitted to the power assisting coupler 16 after being reduced and increased by the second speed reducing mechanism 5; the servo motor B10, the hydraulic pump 9, the oil storage tank 11, the rotary valve 8 and the hydraulic power cylinder 15 form a hydraulic power assisting module, an Electronic Control Unit (ECU) 12 controls the power assisting servo motor B10 through a servo motor control signal d, the hydraulic pump 9 is driven to pump power assisting oil into the hydraulic power cylinder 15 from the oil storage tank 11 through the rotary valve 8, pressure difference is formed at two ends of the hydraulic power cylinder 15, power assisting is generated, power assisting moment is transmitted to the power assisting coupler 16, and the power assisting coupler 16 transmits resultant moment to the steering rocker arm 17.
Referring to fig. 2, a controller of a multi-mode active steering system according to the present invention, which is applied to the multi-mode active steering system in the present embodiment, includes: the energy analysis module 18, the sensor module 2, the Electronic Control Unit (ECU) 12, an active steering control mechanism, an active steering execution mechanism, a power steering control mechanism, a power steering execution mechanism and a mechanical steering mechanism;
the sensor module respectively collects energy consumption information of the electronic control unit 12, the active steering control mechanism, the active steering actuating mechanism, the power steering control mechanism, the power steering actuating mechanism and the mechanical steering mechanism, transmits a signal to the energy analysis module 18 for analysis and calculation, and then outputs the signal to the electronic control unit 12; the electronic control unit 12 respectively outputs servo motor control signals b and c to the corresponding control mechanisms according to the input signals, and controls the corresponding execution mechanisms to output torque according to the control strategies;
the active steering control mechanism comprises: a servo motor C14; the active steering actuator includes: an electric push rod 19, a first speed reducing mechanism 13 and a planetary gear set 4; the servo motor C14 receives the servo motor control signal b output by the electronic control unit 12, and outputs torque to the mechanical steering mechanism through the electric push rod 19, the first speed reducing mechanism 13 and the lower gear ring of the planetary gear set 4 in sequence;
the power steering control mechanism comprises: a servo motor A6 and a servo motor B10; the power steering actuator includes: the hydraulic pump 9, the oil storage tank 11, the rotary valve 8, the hydraulic power cylinder 15, the second speed reducing mechanism 5 and the power coupler 16; the servo motor A6 and the servo motor B10 respectively receive the servo motor control signals c and d output by the electronic control unit 12, adjust the output torque of the servo motor A6 through the control signal c according to a corresponding control strategy, and output the output torque to the power-assisted coupler 16 through the second speed reducing mechanism 5; the output torque of a servo motor B10 is adjusted through a control signal d, a hydraulic pump 9 is driven to operate, the generated high-pressure boosting oil sequentially passes through an oil storage tank 11, a rotary valve 8 and a hydraulic boosting cylinder 15 to form differential pressure so as to generate boosting force and output the boosting force to a boosting coupler 16, and the coupled boosting force is output to a mechanical steering mechanism;
the mechanical steering mechanism comprises: the steering wheel 1, the steering column 3, the steering gear 7 and the steering rocker arm 17 input torque to the mechanical steering mechanism through the steering wheel 1, and the torque is output to the steering rocker arm 17 through the steering column 3 and the steering gear 7 in sequence to realize steering operation.
In the embodiment, a sensor module 2 collects real-time signals of a vehicle such as a vehicle speed, a steering wheel torque, a motor rotating speed and the like in the driving process, and carries out filtering and noise reduction processing on the collected signals (one part of the measured quantity of the sensor is used for an energy consumption analysis module 18 to calculate energy consumption and then transmits the energy consumption to an electronic control unit 12 after calculation, the other part of the measured quantity of the sensor is directly transmitted to the electronic control unit 12 to calculate power assistance, and then the electronic control unit 12 outputs control signals to a next-stage mechanism according to the energy consumption and the power assistance);
the sensor module 2 transmits measured values required by calculating energy consumption functions such as motor rotating speed signals to the energy analysis module 18, the energy analysis module 18 analyzes the acquired results, calculates the energy consumption of the motor, the energy consumption of the controller, the energy consumption of the hydraulic module and the system output power respectively, and transmits energy consumption signals of all parts to the electronic control unit 12;
the electronic control unit 12 calculates a total energy consumption function according to the energy consumption signals of the motor, the controller, the hydraulic module, the system output power and the like calculated by the energy analysis module 18, and takes the minimum value as the control target of the controller according to the total energy consumption function, outputs control current to the active steering control mechanism and the power steering control mechanism, and drives the corresponding actuating mechanisms to run at the most economical rotating speed proportion, so that the energy consumption of each part of the whole system in the working process is reduced, and the purpose of energy conservation is achieved.
Meanwhile, the electronic control unit 12 obtains the actual assist force output by the power steering actuating mechanism and the actual auxiliary corner output by the active steering actuating mechanism according to the information acquired by the sensor module 2, and the actual assist force and the actual auxiliary corner output by the active steering actuating mechanism are used as constraint conditions of the controller in the solving process, so that the situation that the system actuating mechanism outputs the assist force and the auxiliary corner are far smaller than ideal values of the assist force and the auxiliary corner under the working condition due to the control effect of the controller on energy consumption is prevented, and the operation stability of the vehicle is influenced.
The invention discloses a control method of a multi-mode active steering system, which comprises the following steps:
(1) Analyzing input and output energy flow of the multi-mode active steering system, and enabling the system energy flow to be equivalent to a function of current, wherein the system input energy comprises driver input P in1 (I) Electric energy input P in2 (I) (ii) a The output energy includes controller energy consumption P out1 (I) Energy consumption P of motor out2 Energy consumption P of hydraulic module out3 And the system output power P out4 Obtaining the total energy consumption function P of the system w (I) The calculation formula is as follows:
in the formula, R A Is an armature resistance; i is A Is the armature current; u shape s Is the voltage across the controller; r is elec A controller resistance; m is a group of ci Torque loss due to friction in the motor; c Fr Is the velocity ratio coefficient of friction; omega i The motor rotation speed; c Fr2 Is the velocity ratio squared friction coefficient; c i Other losses of the motor; p is s Is the output pressure of the booster pump; q is the displacement of the booster pump; q s The output flow of the booster pump is output; rho is the density of the boosting oil liquid; c q Is the flow coefficient; a. The i The throttle area of the ith valve port; a. The p The cross section area of the hydraulic power cylinder is shown; x is a radical of a fluorine atom r Displacing the steering nut;
total energy consumption function P of system w (I) The calculation method comprises the following steps:
P w (I)＝K 1 P out1 +K 2 P out2 +K 3 P out3 +K 4 P out4
in the formula: k is 1 、K 2 、K 3 、K 4 The energy consumption coefficient;
(2) Based on H ∞ The control theory design controller and the original system form a closed-loop system, and the closed-loop system is solved to obtain a total energy consumption function P output by the system w (I) Minimum value and calculating the total energy consumption function P of the system w (I) When the minimum value is obtained, the control current I required to be output by the electronic control unit min Size;
the control current I min The value of (c) must satisfy the constraint: power steering module T d Tracking power-assisted target signal T d * And an active steering module T z Tracking steering target signal T z * Namely:
according to the invention, the energy consumption calculation formulas of all parts of the system are obtained according to the state quantities of the vehicle speed and the like in the driving process of the vehicle, the energy consumption function of the system is obtained through derivation, the system energy consumption function is taken as a control target, and the plurality of power-assisted execution mechanisms of the system are coordinately controlled, so that the control stability and the driving safety of the vehicle at medium and high speeds are effectively improved, and compared with the existing hydraulic power-assisted system, the energy consumption of the vehicle at high speed and under a non-steering working condition is reduced, therefore, the hydraulic power-assisted system has a wide market prospect.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (2)
1. A control method of a multi-mode active steering system is realized based on a controller of the multi-mode active steering system, and the controller comprises the following steps: the system comprises an energy analysis module, a sensor module, an electronic control unit, an active steering control mechanism, an active steering execution mechanism, a power steering control mechanism, a power steering execution mechanism and a mechanical steering mechanism;
the sensor module respectively collects energy consumption information of the electronic control unit, the active steering control mechanism, the power steering actuating mechanism and the mechanical steering mechanism, transmits signals to the energy analysis module for analysis and calculation, and then outputs the signals to the electronic control unit; the electronic control unit respectively outputs servo motor control signals B, C and d to the corresponding control mechanisms according to the input signals, carries out torque control on the servo motors A, B and C, and controls the corresponding execution mechanisms to output torque according to the control strategies through the servo motors;
the active steering control mechanism comprises: a servo motor C; the active steering actuator includes: the electric push rod, the first speed reducing mechanism and the planetary gear set are arranged on the frame; the servo motor C receives a servo motor control signal b output by the electronic control unit and outputs torque to the mechanical steering mechanism after sequentially passing through the electric push rod, the first speed reducing mechanism and the lower gear ring of the planetary gear set;
the power steering control mechanism includes: a servo motor A and a servo motor B; the power steering actuator includes: the hydraulic pump, the oil storage tank, the rotary valve, the hydraulic power-assisted cylinder, the second speed reducing mechanism and the power-assisted coupler are arranged on the hydraulic pump; the servo motor A and the servo motor B respectively receive servo motor control signals c and d output by the electronic control unit, the output torque of the servo motor A is adjusted through the control signal c according to a corresponding control strategy, and the output torque is output to the power-assisted coupler through the second speed reducing mechanism; the output torque of the servo motor B is adjusted through a control signal d, a hydraulic pump is driven to operate, the generated high-pressure boosting oil sequentially passes through an oil storage tank, a rotary valve and a hydraulic boosting cylinder to form differential pressure so as to generate boosting force and output the boosting force to a boosting coupler, and the coupled boosting force is output to a mechanical steering mechanism;
the mechanical steering mechanism comprises: the steering wheel inputs torque to the mechanical steering mechanism through the steering wheel, and the torque is output to wheels through the steering column, the steering device and the steering rocker arm in sequence to realize steering operation;
the method is characterized by comprising the following steps:
(1) Analyzing input and output energy flow of the multi-mode active steering system, and enabling the system energy flow to be equivalent to a function of current, wherein the system input energy comprises driver input P in1 (I) Electric energy input P in2 (I) (ii) a The output energy includes controller energy consumption P out1 (I) Energy consumption P of motor out2 Energy consumption P of hydraulic module out3 And the system output power P out4 Obtaining the total energy consumption function P of the system w (I) The calculation formula is as follows:
in the formula, R A Is an armature resistance; i is A Is the armature current; u shape s Is the voltage across the controller; r elec Is a controller resistance; m is a group of ci Torque loss due to friction in the motor; c Fr Is the velocity ratio coefficient of friction; omega i The motor rotation speed; c Fr2 Is the velocity ratio squared friction coefficient; c i Other losses of the motor; p is s Is the output pressure of the booster pump; q is the displacement of the booster pump; q s The output flow of the booster pump is output; rho is the density of the boosting oil liquid; c q Is the flow coefficient; a. The i The throttle area of the ith valve port; a. The p The cross section area of the hydraulic power cylinder is shown; x is the number of r Shifting the steering nut;
total energy consumption function P of system w (I) The calculation method comprises the following steps:
P w (I)＝K 1 P out1 +K 2 P out2 +K 3 P out3 +K 4 P out4
in the formula: k 1 、K 2 、K 3 、K 4 The energy consumption coefficient;
(2) Based on H ∞ The control theory design controller and the original system form a closed-loop system, and the closed-loop system is solved to obtain a total energy consumption function P output by the system w (I) Minimum value and calculating the total energy consumption function P of the system w (I) When the minimum value is obtained, the control current I required to be output by the electronic control unit min Size;
the control current I min The value of (c) must satisfy the constraint: torque T of power steering module d Tracking power-assisted target signal T d * And torque T of the active steering module z Tracking steering target signal T z * Namely:
in the formula, T A Indicating the output torque, T, of the servomotor A B Indicating the output torque of servomotor B.
2. The control method of the multi-mode active steering system according to claim 1, wherein the motor speed signal collected by the sensor module is calculated by the energy analysis module and then the result of the solution is transmitted to the electronic control unit; and the sensor module directly outputs the acquired vehicle speed and steering wheel angle signals to the electronic control unit.
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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 |
| CN109318982B (en) * | 2018-08-02 | 2021-05-25 | 江苏大学 | Parameter matching method for hybrid power steering system |
| CN110588769B (en) * | 2019-10-21 | 2020-07-28 | 清华大学 | Wire-controlled steering system and control method thereof |
| CN113895511B (en) * | 2021-10-09 | 2022-09-16 | 南京航空航天大学 | Electro-hydraulic integrated steering system and multi-parameter coupling optimization method thereof |
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| US6370459B1 (en) * | 1998-07-21 | 2002-04-09 | Techco Corporation | Feedback and servo control for electric power steering systems |
| 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 |
| 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 |
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| ITTO20110795A1 (en) * | 2011-09-07 | 2013-03-08 | Cnh Italia Spa | STEERABLE VEHICLE |
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| US6370459B1 (en) * | 1998-07-21 | 2002-04-09 | Techco Corporation | Feedback and servo control for electric power steering systems |
| 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 |
| 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 |
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