CN107433976A - A kind of torque compensation method of servo steering system - Google Patents
A kind of torque compensation method of servo steering system Download PDFInfo
- Publication number
- CN107433976A CN107433976A CN201710010224.4A CN201710010224A CN107433976A CN 107433976 A CN107433976 A CN 107433976A CN 201710010224 A CN201710010224 A CN 201710010224A CN 107433976 A CN107433976 A CN 107433976A
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- torque
- steering
- steering system
- compensation
- control unit
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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
- B62D5/0409—Electric motor acting on the steering column
-
- 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
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention discloses a kind of torque compensation method of servo steering system, the servo steering system includes mechanical steering system and electronic control unit, the input of the electronic control unit is connected with torque sensor, output end is connected by steering assist motor, reducing gear with mechanical steering system, wherein, the method that the electronic control unit uses quadravalence torque compensation, input as steering wheel raw torque input signal, torque compensation is carried out by way of adjusting filtering parameter, the torque signal after exporting as compensation.The torque compensation method of servo steering system provided by the invention, second order torque compensator is substituted using quadravalence torque compensator, quadravalence torque compensator is equally the wave filter of a lead-lag, has the function that amplitude-frequency gain and phase frequency compensation, but its use is more flexible；Each feature can be had concurrently by parameter regulation simultaneously, so as to realize relatively good steering feel.
Description
Technical field
The present invention relates to a kind of Automotive Steering Technology, more particularly to a kind of electric boosting steering system (Electric
Power Steering, abbreviation EPS) torque compensation technology.
Background technology
Most of electric boosting steering systems are as shown in figure 1, be to install rotary angle transmitter 2, moment of torsion additional by mechanical steering system
Sensor 11, electronic control unit 13, steering assist motor 12 and its grade of reducing gear 4 composition.Wherein, mechanical steering system master
To include steering wheel 1, steering column 3, jackshaft 5, steering gear 6, little gear 10, steering linkage 7, knuckle arm 9 and deflecting roller
8；Torque sensor is detecting pilot control torque；Assist motor can be arranged in steering column or steering gear, by subtracting
Fast mechanism provides assist torque to driver.
Torque sensor signal Td in Fig. 2, rotary angle transmitter signal A and vehicle speed sensor signal V are input to Electronic Control
The Torque Control module of unit (ECU), corresponding assist torque Icmd is calculated, exported as target torque command and give motor control
Molding block, the driving assist motor work of controller output current.The torque signal and steering system measured due to torque sensor
Real moment of torsion ratio of uniting generally there are a certain degree of hysteresis, therefore torque signal enters torque control module and typically before
Processing is compensated, as shown in Figure 2, otherwise the motor assist torque of electric boosting steering system may be consolidated with mechanical tubing string
There is frequency generating resonant, shake a whole set of steering.
The method that the torque compensator of electric power steering typically uses second order compensation, second order torque compensation are one advanced
The wave filter of hysteresis, there is amplitude-frequency gain and phase frequency compensation.Its discrete expression is as follows：
Gsc(z) it is a transmission function, parameter a1, a2, b0, b1, and b2 are independent filtering parameters.
The torque signal that the input of the compensation measures for torque sensor.It can be repaiied by adjusting the parameter in following table such as
Change the amplitude-frequency and phase-frequency characteristic of wave filter.
The torque compensation filter parameter of table 1
The output of torque compensation wave filter is the torque signal after compensation.
Using moment of torsion second order compensation method due to adjustment parameter it is few, filter shape is dumb, defeated according to the wave filter
The Motor torque that the torque signal gone out is implemented has viscous, the feelings of friction and response not in time when still often bringing driver to turn to
Condition, there is larger steering wheel torque fluctuation.
The design and parameter selection principle of torque compensation device are, from the point of view of the bode figures of torque compensation device：
A. should be close to 1 in low frequency range, amplitude gain, delayed phase should be as small as possible；
B. in intermediate frequency zone, amplitude gain should be less than 1, and delayed phase should be as small as possible；
C. should be as small as possible in high frequency region, amplitude gain, phase is as big as possible in advance.
In general electric boosting steering system often uses second order compensation device, and the compensator adjustment parameter is few, it is difficult to takes into account
Three above feature.Require that system is small in the delayed phase of middle low-frequency range without viscous sense, stability then requires system in high band
Phase it is big in advance.Therefore the torque compensation device of second order is difficult to take into account two performances of stability and comfortableness.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of method of quadravalence torque compensation, can pass through parameter regulation
Three above feature is had concurrently simultaneously, so as to realize relatively good steering feel.
The present invention is to provide a kind of torque of servo steering system to solve the technical scheme that above-mentioned technical problem uses
Compensation method, the servo steering system include mechanical steering system and electronic control unit, the electronic control unit it is defeated
Entering end with torque sensor to be connected, output end is connected by steering assist motor, reducing gear with mechanical steering system, wherein,
The method that the electronic control unit uses quadravalence torque compensation, input as steering wheel raw torque input signal, pass through regulation
The mode of filtering parameter carries out torque compensation, the torque signal after exporting as compensation.
The torque compensation method of above-mentioned servo steering system, wherein, the transmission function of the quadravalence torque compensation is discrete
Formula is：Parameter a1, a2, a3, a4, b0, b1, b2, b3 and b4 are independent
Filtering parameter.
The torque compensation method of above-mentioned servo steering system, wherein, the b0 values are that 1.560471, b1 is
5.19371, b2 6.518768, b3 3.659561, b4 0.775742, a1 2.608597, a2 2.340805, a3 are
0.795975, a4 0.065491.
The torque compensation method of above-mentioned servo steering system, wherein, the input of the electronic control unit is also with turning
Angle transducer, which is connected, gathers steering wheel, calculates the torque signals that rotary transform tensor needs, and enter with the torque signal after compensation
Row superposition.
The torque compensation method of above-mentioned servo steering system, wherein, the input of the electronic control unit also gathers
Current vehicle speed, calculate damping compensation signal corresponding to current vehicle speed and be overlapped with the torque signal after compensation.
The torque compensation method of above-mentioned servo steering system, wherein, the mechanical steering system includes steering wheel, turned to
Tubing string and steering gear, the steering column are connected by jackshaft with steering gear, and the steering that is provided at both ends with of the steering gear is drawn
Bar, knuckle arm and deflecting roller, the assist motor are arranged in steering column or steering gear, and the rotary angle transmitter is arranged on
On steering column, the torque sensor is arranged on jackshaft.
Present invention contrast prior art has following beneficial effect：The torque compensation of servo steering system provided by the invention
Method, second order torque compensator is substituted using quadravalence torque compensator, quadravalence torque compensator is equally a lead-lag
Wave filter, there is amplitude-frequency gain and phase frequency compensation, but its use is more flexible；It can be had concurrently simultaneously by parameter regulation
Each feature, so as to realize relatively good steering feel.
Brief description of the drawings
Fig. 1 is electric boosting steering system schematic diagram；
Fig. 2 is electric power steering ECU control schematic diagrams；
Fig. 3 is that the bode of second order compensation schemes；
Fig. 4 is the bode figures of quadravalence of the present invention compensation.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
The present invention substitutes second order torque compensator using quadravalence torque compensator, and quadravalence torque compensator is equally one super
The wave filter of preceding hysteresis, there is amplitude-frequency gain and phase frequency compensation, but its use is more flexible.Its discrete expression is such as
Under：
Gsc(z) it is a transmission function, parameter a1, a2, a3, a4, b0, b1, b2, b3 and b4 are independent filtering parameters.
The input of the compensation is raw torque input signal.Can be by adjusting such as the characteristic of the parameter modification wave filter in following table.
| Torque compensation filter parameter | Description |
| b0 | B0 parameters in discrete expression |
| b1 | B1 parameters in discrete expression |
| b2 | B2 parameters in discrete expression |
| b3 | B3 parameters in discrete expression |
| b4 | B4 parameters in discrete expression |
| a1 | A1 parameters in discrete expression |
| a2 | A2 parameters in discrete expression |
| a3 | A3 parameters in discrete expression |
| a4 | A4 parameters in discrete expression |
The torque compensation filter parameter of table 2
The output of torque compensator is the torque signal after compensation.
Second order torque compensator is only capable of realizing and low frequency phase is lagged, advanced to high-frequency signal, and amplitude-frequency is carried out to certain frequency domain
The basic compensating action suppressed, because wave filter regulation is dumb, amplitude-frequency and phase frequency shape adjustment are not accurate enough, and quadravalence moment of torsion
Compensator can be directed to amplitude-frequency phase frequency and carry out more flexible adjustment, after carrying out suitable parameter regulation using quadravalence torque compensation
Electric boosting steering system can make go to action more comfortably respond more in time, torque ripple is smaller, preferably improve turn to
Quality and comfortableness.
Using electric power steering such as Fig. 3 of second order torque compensator, using the torque compensator of parameter group 1 (curve S1)
When, actual steering feel is undesirable, the problem of low-response being present not in time, readjusts relevant parameter for the problem, obtains
Parameter group 2 (curve S2), the bode figures of torque compensator are as shown in figure 3, using low frequency 4Hz as point of observation under two groups of parameters, phase
Angle is by -30 degree liftings to -20 degree, and using high frequency 60Hz as point of observation, phase angle is reduced to 50 degree by 53 degree, the controlling of low-frequency range
It can be lifted, but the control performance of high band has deteriorated.
| Torque compensation filter parameter | Parameter group 1 (curve S1) | Parameter group 2 (curve S2) |
| b0 | 1.084473 | 1.285645 |
| b1 | 1.815918 | 2.103516 |
| b2 | 0.772949 | 0.865723 |
| a1 | 1.021973 | 1.016113 |
| a2 | 0.063477 | 0.063965 |
Using electric boosting steering system such as Fig. 4 of quadravalence torque compensator, using parameter group 3 torque compensator when
(curve S3), similarly has that to turn to feel undesirable, low-response not in time the problem of, readjust stable benefit for the problem
The steady compensator (curve S4) of parameter group 4 is obtained after repaying device parameter, torque compensator bode schemes such as Fig. 4 under two groups of parameters, with low
Frequency 4Hz is point of observation, and phase angle is by -24 degree liftings to -21 degree, and using high frequency 60Hz as point of observation, phase angle is increased to by 45 degree
47 degree, the control performance of low frequency and high frequency gets a promotion simultaneously, and actual test can also obtain more preferable feel.
| Torque compensation filter parameter | Parameter group 3 (curve S3) | Parameter group 4 (curve S4) |
| b0 | 1.18043 | 1.560471 |
| b1 | 3.930618 | 5.19371 |
| b2 | 4.93617 | 6.518768 |
| b3 | 2.7729 | 3.659561 |
| b4 | 0.588226 | 0.775742 |
| a1 | 2.706497 | 2.608597 |
| a2 | 2.595092 | 2.340805 |
| a3 | 1.017395 | 0.795975 |
| a4 | 0.130096 | 0.065491 |
Although the present invention is disclosed as above with preferred embodiment, so it is not limited to the present invention, any this area skill
Art personnel, without departing from the spirit and scope of the present invention, when a little modification and perfect, therefore the protection model of the present invention can be made
Enclose to work as and be defined by what claims were defined.
Claims (6)
1. a kind of torque compensation method of servo steering system, the servo steering system includes mechanical steering system and electronics control
Unit processed, the input of the electronic control unit are connected with torque sensor, and output end passes through steering assist motor, reductor
Structure is connected with mechanical steering system, it is characterised in that the method that the electronic control unit uses quadravalence torque compensation, inputs and is
Steering wheel raw torque input signal, carries out torque compensation by way of adjusting filtering parameter, the moment of torsion after exporting as compensation
Signal.
2. the torque compensation method of servo steering system as claimed in claim 1, it is characterised in that the quadravalence torque compensation
Transmission function discrete type be：Parameter a1, a2, a3, a4, b0, b1,
B2, b3 and b4 are independent filtering parameters.
3. the torque compensation method of servo steering system as claimed in claim 2, it is characterised in that the b0 values are
1.560471, b1 5.19371, b2 6.518768, b3 3.659561, b4 0.775742, a1 2.608597, a2 are
2.340805, a3 0.795975, a4 0.065491.
4. the torque compensation method of servo steering system as claimed in claim 1, it is characterised in that the electronic control unit
Input be also connected with rotary angle transmitter collection steering wheel, calculate rotary transform tensor need torque signals, and with compensation
Torque signal afterwards is overlapped.
5. the torque compensation method of servo steering system as claimed in claim 4, it is characterised in that the electronic control unit
Input also gather current vehicle speed, calculate damping compensation signal corresponding to current vehicle speed and simultaneously carried out with the torque signal after compensation
Superposition.
6. the torque compensation method of servo steering system as claimed in claim 4, it is characterised in that the mechanical steering system
Including steering wheel, steering column and steering gear, the steering column is connected by jackshaft with steering gear, and the two of the steering gear
End is provided with steering linkage, knuckle arm and deflecting roller, and the assist motor is arranged in steering column or steering gear, described turn
Angle transducer is arranged on steering column, and the torque sensor is arranged on jackshaft.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610362434 | 2016-05-26 | ||
| CN2016103624345 | 2016-05-26 |
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| CN107433976A true CN107433976A (en) | 2017-12-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710010224.4A Pending CN107433976A (en) | 2016-05-26 | 2017-01-06 | A kind of torque compensation method of servo steering system |
| CN201720137127.7U Active CN206446661U (en) | 2016-05-26 | 2017-02-15 | A kind of electric boosting steering system with torque compensation |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720137127.7U Active CN206446661U (en) | 2016-05-26 | 2017-02-15 | A kind of electric boosting steering system with torque compensation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550431A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN113942566A (en) * | 2021-10-27 | 2022-01-18 | 江门市兴江转向器有限公司 | Electric power steering control method and device and readable storage medium |
| CN113998002A (en) * | 2021-12-06 | 2022-02-01 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
| CN115214764A (en) * | 2021-12-20 | 2022-10-21 | 广州汽车集团股份有限公司 | Steering control method, device and readable storage medium |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108128348B (en) * | 2017-11-16 | 2024-06-14 | 南京航空航天大学 | Electric power steering system based on shoal algorithm and multi-objective optimization method thereof |
| CN108944912B (en) * | 2018-07-11 | 2020-05-19 | 北京汽车股份有限公司 | Vehicle and steering acting force compensation method and device of vehicle steering system |
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- 2017-02-15 CN CN201720137127.7U patent/CN206446661U/en active Active
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550431A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN112550431B (en) * | 2019-09-26 | 2022-05-24 | 上海汽车集团股份有限公司 | Torque damping compensation control method, controller and steering control method |
| CN113942566A (en) * | 2021-10-27 | 2022-01-18 | 江门市兴江转向器有限公司 | Electric power steering control method and device and readable storage medium |
| CN113942566B (en) * | 2021-10-27 | 2024-02-13 | 江门市兴江转向器有限公司 | Electric power steering control method, apparatus, and readable storage medium |
| CN113998002A (en) * | 2021-12-06 | 2022-02-01 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
| CN113998002B (en) * | 2021-12-06 | 2022-11-08 | 上海洛轲智能科技有限公司 | Control method and device of electronic auxiliary steering system and controller |
| CN115214764A (en) * | 2021-12-20 | 2022-10-21 | 广州汽车集团股份有限公司 | Steering control method, device and readable storage medium |
| CN115214764B (en) * | 2021-12-20 | 2023-08-15 | 广州汽车集团股份有限公司 | Steering control method, device, apparatus and readable storage medium |
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| CN206446661U (en) | 2017-08-29 |
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| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 702, Building 16, 1000 Jinhai Road, Pudong New Area, Shanghai Applicant after: Shanghai Nasen Automobile Electronics Co Ltd Address before: Room J365, 4 Blocks, Zone B, 925 Yecheng Road, Jiading District, Shanghai, 2003 Applicant before: Shanghai Nasen Automobile Electronics Co Ltd |
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Application publication date: 20171205 |