CN109278850A - Power steering control method, system and automobile - Google Patents
Power steering control method, system and automobile Download PDFInfo
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- CN109278850A CN109278850A CN201811202444.8A CN201811202444A CN109278850A CN 109278850 A CN109278850 A CN 109278850A CN 201811202444 A CN201811202444 A CN 201811202444A CN 109278850 A CN109278850 A CN 109278850A
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- steering control
- power steering
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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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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides a kind of power steering control method, system and automobile, belongs to motor turning control technology field, first M ° of N ° of minimum speed/S, maximum (top) speed/S of the steering wheel under the power steering control model of setting automobile；Secondly the rotational speed omega for obtaining steering wheel, if ω < N °/S, power steering control unit are standby；If N °/S < ω < M °/S, then power steering control unit reduces motor power-assisted square T by electric machine controller within the scope of 0%-20%aOutput；If M °/S < ω, power steering control unit reduces motor power-assisted square T according to the range of 20%-80% according to the speed of different phaseaOutput.Power steering control method, system and automobile provided by the invention, control strategy that can be different according to the selection of speed of steering wheel avoid steering wheel and suddenly beat, beat phenomenon fastly, reduce trailer reversing situation generation out of control.
Description
Technical field
The present invention relates to motor turning control technology field more particularly to a kind of power steering control methods, system and vapour
Vehicle.
Background technique
The road conditions situation and pavement conditions that running car is faced are intricate, especially in low attachment coefficient road traveling
When, handling maneuver becomes an important factor for influencing driving safety.
When driver encounters emergency in the process of moving, because it is pressed for time and physiological strains state, driver can be right
The control ability of steering wheel is more usually decreased obviously, and is easy excessively to have an effect, is caused steering wheel turning velocity too fast, so that vehicle is real
It is out of hand to vehicle to may cause driver there are very big deviation for the wheelpath of the anticipation of border wheelpath and driver.
The steering boost system being arranged in existing automobile can not be adaptively adjusted its motor according to the revolving speed of steering wheel and help
Torque, thus steering wheel anxious the phenomenon that beating, beating fastly occurs and the situation for causing trailer reversing out of control occurs.
Summary of the invention
The present invention provides a kind of power steering control method, system and automobiles to adjust motor according to the revolving speed of steering wheel
The output of power-assisted square avoids steering wheel from anxious the phenomenon that beating, beating fastly occur, reduces trailer reversing situation out of control and occurs.
To achieve the goals above, the present invention adopts the following technical scheme that；
First aspect present invention provides a kind of power steering control method, comprising the following steps:
Step 1: to M ° of N ° of minimum speed/S, maximum (top) speed/S of the steering wheel under the power steering control model of automobile
It is set；
Step 2: automobile, which enters power steering control model and generates pumping signal, is transferred to the power steering control list
Member；
It is opened Step 3: power steering control unit receives after automobile has entered the pumping signal of power steering control model
Beginning work；
The rotational speed omega of steering wheel is obtained, and is compared with the minimum speed of setting N °/S and M ° of maximum (top) speed/S, is selected
Different control strategies；
If ω < N °/S, power steering control unit are standby；
If N °/S < ω < M °/S, then power steering electronic control unit is subtracted by electric machine controller in 0%-20% range
Few motor power-assisted square TaOutput；
If M °/S < ω, Power assisted control unit according to the speed of different phase according to 20%-80% between
Reduce motor power-assisted square TaOutput；
Step 4: automobile exits power steering controlling mechanism mode.
Compared with prior art, power steering control method provided by the invention has the following advantages that；
Power steering control method provided by the invention, control strategy that can be different according to the selection of speed of steering wheel,
So that assist motor is exported different motor power-assisted squares according to different steering disk rotating speeds, avoid steering wheel and suddenly beat, beat phenomenon fastly,
Reduce trailer reversing situation out of control to occur.
Further, in the step 2 and step 3, power steering control unit obtain torque sensor it is t seconds continuous in
Rotating torque T numerical fluctuations section；
If the numerical fluctuations section of the rotating torque T detected meets the rotating torque T on low attachment coefficient road surfacedNumerical value
When waving interval, then automobile enters power steering control model；
Otherwise, automobile exits power steering control model.
Further, in the step 2 and step 3, power steering control unit obtains rainfall；
If the rain estimation of rainfall is moderate rain or more, automobile enters power steering control model；
Otherwise, automobile exits steering control mode.
Further, in the step 2 and step 3, power steering control unit obtains snowfall；
If the snow level of snowfall is moderate snow or more, automobile enters power steering control model；
Otherwise, automobile exits steering control mode.
Further, in the step 2 neutralization procedure three, condition of road surface of the driver according to running car section, automobile
Into or exit power steering control model.
Further, when the automobile enters power steering control mode, power steering control unit issues voice prompting,
And traffic information is shown on automobile display screen.
Further, it in the step 3, if M °/S < ω and automobile driving speed V are 0km/h-20km/h, turns to
Power assisted control unit reduces by 20% motor power-assisted square T by electric machine controlleraOutput；
If M °/S < ω and automobile driving speed V are 20km/h-50km/h, power steering control unit passes through motor control
Device processed reduces by 40% motor power-assisted square TaOutput；
If M °/S < ω and automobile driving speed V are 50km/h-70km/h, power steering control unit passes through motor control
Device processed reduces by 60% motor power-assisted square TaOutput；
If M °/S < ω and automobile driving speed V > 70km/h, power steering control unit are subtracted by electric machine controller
Few 80% motor power-assisted square TaOutput.
Further, if described M °/S < ω and automobile driving speed V > 70km/h, power steering control unit pass through
The resistance of motion square T of electric machine controller increase steering wheelf。
Second aspect of the present invention provides a kind of power steering control system, including steering-wheel torque sensor, speed pass
Sensor, current sensor and the power steering control unit；
The steering-wheel torque sensor and the vehicle speed sensor are connect with the power steering control unit respectively, are used
In the driving torque T of steering wheel and Vehicle Speed V are transferred to power steering control unit；The current sensor is used for
Acquire the operating current I of assist motora, and it is transferred to power steering control unit, the power steering control unit is preset with
Torque-motor power-assisted target current table, power steering control unit determine the of assist motor according to the steering-wheel torque T of detection
One reference current IreAnd combine steering wheel rotational speed omega to the first reference current I of assist motorreIt is adjusted, obtains the second ginseng
Examine electric current Ire；
Second reference current IreAnd the operating current I of assist motora, assist motor is obtained after PID regulator is adjusted
Theoretical work electric current ICInput to electric machine controller, electric machine controller is according to the theoretical work electric current I of assist motorCControl motor
Export steering moment.
Power steering control system provided by the invention, by the revolving speed of steering wheel to the first of assist motor with reference to electricity
Flow IreIt is adjusted, makes the second reference current IreLess or greater than the first reference current Ire, PID regulator is to the second reference
Electric current IreAnd the operating current I of assist motoraIt is adjusted to obtain the theoretical work electric current I of assist motorCAnd it is transferred to motor
Controller realizes the adjusting to the power-assisted square of assist motor.
Third aspect present invention provides a kind of automobile comprising the rain connecting respectively with the power steering control unit
Quantity sensor, snowfall sensor and automobile enter or exit the button power steering control system of power steering control model；
The precipitation rain fall sensor is for detecting rainfall and being transferred to power steering control unit, and the snowfall sensor is for detecting drop
Snowfall is simultaneously transferred to power steering control unit.
Automobile provided by the invention, including steering boost system, precipitation rain fall sensor, snowfall sensor and power steering control
The button of molding formula, automobile can in rain and snow in can be according to road automatically into power steering control model or driver
Situation enters the button of power steering control model by button, and automobile enters power steering control model can be according to steering wheel
The different control strategy of selection of speed, so that assist motor is exported different motor power-assisted squares according to different steering disk rotating speeds,
It avoids steering wheel suddenly beat, beat phenomenon fastly, reduces trailer reversing situation out of control and occur.
In addition to it is described above present invention solves the technical problem that, constitute technical solution technical characteristic and by these
Outside beneficial effect brought by the technical characteristic of technical solution, power steering control method and system provided by the invention can be solved
The other technical characteristics and these technical characteristic bring beneficial effects for including in other technologies problem certainly, technical solution,
Further details of explanation will be made in a specific embodiment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the present invention will be implemented below
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only a part of the embodiments of the present invention, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
The step of Fig. 1 is power steering control method provided in an embodiment of the present invention detailed annotation figure；
Fig. 2 is the operation principle schematic diagram of power steering control system provided in an embodiment of the present invention；
Description of symbols:
10- torque sensor,
20- vehicle speed sensor,
30- power steering control unit,
31-PID adjuster,
40- current sensor,
50- electric machine controller,
60- assist motor.
Specific embodiment
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative labor, belongs to protection of the present invention
Range.
As shown in Figure 1, power steering control method provided in an embodiment of the present invention, comprising the following steps:
Step 1: to M ° of N ° of minimum speed/S, maximum (top) speed/S of the steering wheel under the power steering control model of automobile
It is set.
Specifically, being according to the travel speed of the load-carrying of automobile, the operating condition of automobile steering system and automobile to automobile
M ° of maximum (top) speed/S of steering wheel under power steering control model and N ° of minimum speed/S of steering wheel are set, wherein M,
N is positive integer.
Step 2: automobile, which enters power steering control model and generates pumping signal, is transferred to power steering control unit.
Specifically, automobile can be by turning according to the condition of road surface, weather environment or automobile of running car according to inside
The fluctuation situation of the rotating torque detected to the torque sensor of disk, selection enter power steering control model；Automobile, which enters, to be turned
Corresponding pumping signal is generated after to Power assisted control mode and is transferred to power steering control unit, for activating power steering control
Unit processed is started to work.
The pumping signal of power steering control model is entered Step 3: power steering control unit receives automobile and has started
Work, obtains the rotational speed omega of steering wheel, and M ° of maximum (top) speed/S with N °/S of the minimum speed of the steering wheel of setting and steering wheel
It is compared, selects different control strategies；If ω < N °/S, power steering control unit are standby；If N °/S
< ω < M °/S, then power steering control unit reduces motor power-assisted square T by electric machine controller within the scope of 0%-20%a's
Output；If M °/S < ω, power steering control unit subtracts according to the speed of different phase according to the range between 20%-80%
Few motor power-assisted square TaOutput.
Specifically, power steering control unit is in the pumping signal for receiving automobile and having entered power steering control model
Afterwards, start the rotational speed omega of acquisition steering wheel, and the rotational speed omega of the steering wheel of acquisition and the minimum of preset steering wheel are turned
Fast N °/S and M ° of maximum (top) speed/S are compared, and according to the comparison result for the setting value for turning to disk rotating speed and steering disk rotating speed, are turned
The control strategy different to Power assisted control Unit selection, makes that assist motor reduces the motor power-assisted square of its output or to increase its defeated
Out to the resistance of motion square of steering wheel.Not below according to the comparison result of steering disk rotating speed and the setting value for turning to disk rotating speed
Together, the situation of change of the power-assisted square of assist motor output is described in detail.
If the rotational speed omega of the steering wheel of power steering control unit acquisition is less than N ° of minimum speed/S of the steering wheel of setting,
Then power steering control unit is in transition of awaiting orders, not to the power-assisted square T of assist motor outputaIt adjusts.
If the rotational speed omega of the steering wheel of power steering control unit acquisition is greater than N ° of minimum speed/S of the steering wheel of setting,
And being less than M ° of maximum (top) speed/S of the steering wheel of setting, then power steering control unit is by electric machine controller 0%-20%'s
The power-assisted square T of motor output is reduced in rangea。
If the rotational speed omega of the steering wheel of power steering control unit acquisition is greater than M ° of maximum (top) speed/S of the steering wheel of setting,
The speed for detecting vehicle driving simultaneously is in different speed driving status according to vehicle, and the selection of power steering control unit exists
Motor power-assisted square T is reduced within the scope of 20%-80%aOutput, corresponding motor power-assisted square can be matched according to speed, make vehicle
Wheelpath it is roughly the same with the track that driver prejudges.
Step 4: automobile exits power steering control model.
Specifically, automobile can be according to the situation of the road of running car, weather environment or automobile according to internal turn
Power steering control model is exited in the fluctuation situation of the rotating torque of the torque sensor detection of disk, selection；Automobile exits steering
Corresponding pumping signal is generated after Power assisted control mode and is transferred to power steering control unit, for releasing power steering control
The working condition of unit.
Power steering control method provided by the invention reduces power-assisted square, steering wheel is avoided to go out according to the revolving speed of steering wheel
Now anxious the phenomenon that beating, beating fastly, reduces trailer reversing situation out of control and occurs.
In the present embodiment, in step 2 and step 3, power steering control unit obtain torque sensor it is t seconds continuous in
The numerical fluctuations section of rotating torque T；If the numerical fluctuations section of the rotating torque T detected meets low attachment coefficient road surface
Rotating torque TdNumerical fluctuations section when, then automobile enters power steering control model；Otherwise, automobile exits power steering control
Molding formula.
Specifically, the rotating torque T on low attachment coefficient road surface is set in power steering control unit in advancedNumerical value wave
Dynamic section, power steering control unit are connect with torque sensor, and obtain rotating torque of the torque sensor in t seconds continuous
The numerical fluctuations section of T, and the numerical fluctuations section of the rotating torque T by torque sensor in t seconds continuous and power steering
The rotating torque T on the preset low attachment coefficient road surface of control unitdNumerical fluctuations section be compared, if torque sensor is adopted
The numerical fluctuations section of the rotating torque T of collection falls into the rotating torque T on low attachment coefficient road surfacedNumerical fluctuations section when, vapour
Vehicle enters power steering control model, and otherwise, automobile exits power steering control model.
In the present embodiment, in step 2 and step 3, power steering control unit obtains rainfall；If the precipitation of rainfall
When grade is moderate rain or more, then automobile enters power steering control model；Otherwise, automobile exits steering control mode.
Specifically, power steering control unit obtains rainfall from the external world, it is to be understood that can be disposed on automobile
Precipitation rain fall sensor or other rainfall detecting instruments, for detecting rainfall when running car.If the rainfall etc. of detection
When grade is moderate rain or moderate rain or more, then automobile enters power steering control model, and otherwise automobile exits power steering control mould
Formula.
It is understood that precipitation rain fall sensor is connect with power steering control unit, the rainfall that precipitation rain fall sensor detects
Amount grade generates pumping signal when being moderate rain or moderate rain or more, this pumping signal is transferred to power steering control unit, makes vapour
Vehicle enters power steering control model.It is as follows to the understanding of moderate rain in the present embodiment but not limited to this to understand, precipitation is small 12
When it is interior be that precipitation is 10mm-25mm in 5mm-15mm or 24 hour.Moderate rain is only that automobile enters power steering control model
Reference rainfall, if shower or surface gathered water, which make road be in low attachment state and reach, makes road with the precipitation of moderate rain
Identical in low attachment state, then automobile enters power steering control model.
In the present embodiment, in step 2 and step 3, power steering control unit obtains snowfall；If the snowfall of snowfall
Grade is moderate snow or more, then automobile enters power steering control model；Otherwise, automobile exits steering control mode.
Specifically, power steering control unit obtains snowfall from the external world, it is to be understood that can be disposed on automobile
Snowfall sensor or other snowfall detecting instruments, for detecting snowfall when running car.If the snowfall etc. of detection
When grade is moderate snow or moderate snow or more, then automobile enters power steering control model, and otherwise automobile exits power steering control mould
Formula.
It is understood that snowfall sensor is connect with power steering control unit, the snowfall that snowfall sensor detects
Amount grade generates pumping signal when being moderate rain or moderate rain or more, this pumping signal is transferred to power steering control unit, makes vapour
Vehicle enters power steering control model.It is as follows to the understanding of moderate snow in the present embodiment but not limited to this to understand, snowfall is small 12
When it is interior be that precipitation is 2.5mm-5mm in 1mm-3mm or 24 hour；Moderate snow is only that automobile enters power steering control model
Reference snowfall, so that road is in low attachment with moderate snow snowfall if road snow makes road be in low attachment state and reach
State is identical, then automobile enters power steering control model, and when road snow reaches 30mm, automobile enters course changing control mould
Formula.
In the present embodiment, in step 2 neutralization procedure three, driver according to the condition of road surface in running car section, independently into
Enter or exit power steering control model.Specifically, driver's special road section according to locating for automobile, such as automobile winter row
It sails when being in the hill path mountain of in the shade side, hill path may be more wet and slippery at this time, and coefficient of road adhesion is low, and driver can be according to road
Road situation is self-service actively to enter power steering control model, and when condition of road surface is good, driver can actively be moved back automobile
Power steering control model out.
In the present embodiment, when automobile enters power steering control model, power steering control unit issues voice prompting, and
Traffic information is shown on automobile display screen.Specifically, speech prompting system and display screen are provided in automobile, power steering control
Unit processed is connect with speech prompting system and display screen respectively, when automobile enters power steering control model, is issued voice and is mentioned
Show, voice prompting content can be " road is wet and slippery, it is noted that driving safety ", and show watchful mark on a display screen, and will
Voice messaging is converted to text and shows on a display screen；When automobile exits power steering control model, automobile is closed voice and is mentioned
Show with watchful mark, can further promote running car in the steering safety on low attachment road surface, reduce situation to lose control of one's vehicle
Occur.
In the present embodiment, in step 3, if M °/S < ω and automobile driving speed V are 0km/h-20km/h, steering is helped
Power control unit reduces by 20% motor power-assisted square T by electric machine controlleraOutput；If M °/S < ω and automobile driving speed V
For 20km/h-50km/h, then power steering control unit reduces by 40% motor power-assisted square T by electric machine controlleraOutput；If
M °/S < ω and automobile driving speed V are 50km/h-70km/h, then power steering control unit is reduced by electric machine controller
60% motor power-assisted square TaOutput；If M °/S < ω and automobile driving speed V > 70km/h, power steering control unit is logical
Cross the motor power-assisted square T that electric machine controller reduces 80%aIt exports, in above scheme, corresponding motor power-assisted is matched according to speed
Square, the track for prejudging the wheelpath of vehicle with driver are roughly the same.It is understood that above-mentioned example of enumerating is preferred
Recommendation, can be set according to Vehicular turn situation, to the corresponding motor power-assisted square of different speed sections in the present embodiment
TaIt is without restriction.
In addition, if, M °/S < ω and automobile driving speed V > 70km/h, power steering control unit is also in step 3
The resistance of motion square T of steering wheel can be increased by electric machine controllerf.Specifically, turning when the detection of power steering control unit
M ° of the maximum (top) speed/S set to disk rotating speed ω >, and the automobile driving speed V > 70km/h acquired, then power steering control is single
Member increases the resistance of motion square T of steering wheelfFor offsetting the rotating torque of driver's application, making the rotation amplitude of steering wheel and turning
Dynamic speed is accelerated to reduce, and reduces driver and suddenly beats, beats steering wheel fastly to the harm of traffic safety bring.
The maximum (top) speed value of steering wheel will be set in the present embodiment in power steering control unit as 800 °/S, minimum speed
Value is 360 °/S.
If the 360 °/S of rotational speed omega < of the steering wheel of power steering control unit acquisition, power steering control unit are in
It awaits orders transition, not to the power-assisted square T of the output of assist motoraIt adjusts.
If 360 °/S of rotational speed omega >, and the 800 °/S of < of the steering wheel of power steering control unit acquisition, then power steering
Control unit reduces motor power-assisted square T by electric machine controller in the range of 0%-20%aOutput, preferably power steering
Control unit reduces by 10% motor power-assisted square T by electric machine controlleraOutput.
If the 800 °/S of rotational speed omega > of the steering wheel of power steering control unit acquisition, and acquire the traveling speed of vehicle at this time
V is spent, if the travel speed V of automobile, between 0km/h-20km/h, power steering control unit is reduced by electric machine controller
20% motor power-assisted square TaOutput；If automobile driving speed V passes through in 20km/h-50km/h, power steering control unit
Electric machine controller reduces by 40% motor power-assisted square TaOutput；If automobile driving speed V is 50km/h-70km/h, steering is helped
Power control unit reduces by 60% motor power-assisted square T by electric machine controlleraOutput；If the acquisition of power steering control unit turns
To the 800 °/S of rotational speed omega > and automobile driving speed V > 70km/h of disk, then Power assisted control unit is reduced by electric machine controller
80% motor power-assisted square TaOutput.
In addition, power steering control unit increases the resistance of motion square of steering wheel as automobile driving speed V > 70km/h
TfFor offsetting the rotating torque of driver's application, the rotation amplitude and velocity of rotation that reduce steering wheel can be accelerated.
As shown in Fig. 2, power steering control system provided in an embodiment of the present invention, including torque sensor 10, speed pass
Sensor 20, current sensor 40 and power steering control unit 30；Torque sensor 10 and vehicle speed sensor 20 respectively with turn
It is connected to Power assisted control unit 30, for the driving torque T of steering wheel and Vehicle Speed V to be transferred to power steering control
Unit 30；Current sensor 40 is used to acquire the operating current I of assist motora, and it is transferred to power steering control unit 30；Turn
It is preset with torque-motor power-assisted target current table to Power assisted control unit 30, power steering control unit 30 turns according to detection
The first reference current I of assist motor 60 is determined to disk torque TreAnd combine steering wheel rotational speed omega to the first ginseng of assist motor 60
Examine electric current IreIt is adjusted, obtains the second reference current Ire；Second reference current IreAnd the operating current I of assist motora, warp
PID regulator 31 obtains the theoretical work electric current I of assist motor after adjustingCInput to electric machine controller 50, electric machine controller 50
According to the theoretical work electric current I of assist motorCControl 60 output motor power-assisted square of assist motor.
Specifically, power steering control system, including power steering control unit 30 and with power steering control unit 30
The torque sensor 10 of the vehicle speed sensor 20 of connection, current sensor 40 and steering wheel, wherein vehicle speed sensor 20 is usual
It is mounted in driving axle housing or transmission case, vehicle speed sensor 20 is connect by signal wire with power steering control unit 30, is used
In the travel speed of automobile is transferred to power steering control unit 30.
Current sensor 40 is arranged in EPS power steering control system, for detecting the operating current of assist motor 60
Ia, and by the operating current I of the assist motor of acquisition 60aIt is transferred to the PID regulator 31 of power steering control unit.
It is provided with torque-motor power-assisted target current table in power steering control unit 30, torque sensor 10 is acquired
Steering-wheel torque T be transferred to power steering control unit 30, calculate the of assist motor in conjunction with torque-motor target current meter
One reference current Ire；Steering wheel rotational speed omega of the power steering control unit 30 according to acquisition, the first reference current of assist motor
Ire, to the first reference current I of assist motorreIt is adjusted to obtain the second reference current IreIf steering wheel rotational speed omega >
360 °/S, and 800 °/S of <, then the second reference current I obtainedreThe first reference current of < Ire；If steering wheel rotational speed omega >
800 °/S, then the second reference current IreRemote the first reference current of < IreOr when speed is more than 70km/h, the second reference current
IreIt can be with the first reference current IreReversely.
Second reference current IreAnd the operating current I of assist motoraIt is transferred to PID regulator 31, is adjusted through PID regulator 31
The theoretical work electric current I of assist motor is obtained after sectionCAnd by the theoretical work electric current I of assist motorCInput to electric machine controller
50, electric machine controller 50 is according to the theoretical work electric current I of assist motorCIt controls assist motor 60 and exports steering moment, power-assisted electricity
Machine 60 can be in the output for reducing motor power-assisted square or the resistance of motion square T for generating steering wheelf。
The automobile provided in the present embodiment includes the precipitation rain fall sensor connecting respectively with power steering control unit, snowfall biography
Sensor and automobile enter or exit the button and power steering control system of power steering control model, and precipitation rain fall sensor is used
In detection rainfall and it is transferred to power steering control unit, snowfall sensor is for detecting snowfall and being transferred to power steering
Control unit.Power steering control unit is independently selected according to rainfall or snowfall and driver, is entered automobile and is turned
To Power assisted control mode.
Automobile provided by the invention can in rain and snow in can be with automatically into power steering control model or driver
Enter the button of power steering control model by button according to condition of road surface, automobile enters power steering control model being capable of root
According to the different control strategy of the selection of speed of steering wheel, assist motor is made to export different motors according to different steering disk rotating speeds
Power-assisted square avoids steering wheel and suddenly beats, beats phenomenon fastly, reduces trailer reversing situation out of control and occurs.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of power steering control method, which comprises the following steps:
Step 1: M ° of N ° of minimum speed/S, maximum (top) speed/S to the steering wheel under the power steering control model of automobile is carried out
Setting；
Step 2: automobile, which enters power steering control model and generates pumping signal, is transferred to the power steering control unit；
Step 3: power steering control unit, which receives after automobile has entered the pumping signal of power steering control model, starts work
Make；
The rotational speed omega of steering wheel is obtained, and is compared with the minimum speed of setting N °/S and M ° of maximum (top) speed/S, selection is different
Control strategy；
If ω < N °/S, power steering control unit are standby；
If N °/S < ω < M °/S, then power steering control unit reduces motor in 0%-20% range by electric machine controller and helps
Torque TaOutput；
If M °/S < ω, power steering control unit is according to the speed of different phase according to reducing in the range of 20%-80%
Motor power-assisted square TaOutput；
Step 4: automobile exits power steering control model.
2. power steering control method according to claim 1, which is characterized in that in the step 2 and step 3；
The numerical fluctuations section of rotating torque T in power steering control unit acquisition torque sensor is t seconds continuous；
If the numerical fluctuations section of the rotating torque T detected meets the rotating torque T on low attachment coefficient road surfacedNumerical fluctuations
When section, then automobile enters power steering control model；
Otherwise, automobile exits power steering control model.
3. power steering control method according to claim 1, which is characterized in that in the step 2 and step 3,
Power steering control unit obtains rainfall；
If the rain estimation of rainfall is moderate rain or more, automobile enters power steering control model；
Otherwise, automobile exits steering control mode.
4. power steering control method according to claim 1, which is characterized in that in the step 2 and step 3,
Power steering control unit obtains snowfall；
If the snow level of snowfall is moderate snow or more, automobile enters power steering control model；
Otherwise, automobile exits steering control mode.
5. power steering control method according to claim 1, which is characterized in that the step 2 neutralization procedure three
In, driver controls automobile and enters or exit power steering control model according to the condition of road surface in running car section.
6. power steering control method according to claim 1, which is characterized in that the automobile enters power steering control
When mode processed, power steering control unit issues voice prompting, and traffic information is shown on automobile display screen.
7. power steering control method according to claim 1, which is characterized in that in the step 3, if M °/S <
ω and automobile driving speed V are 0km/h-20km/h, then power steering control unit reduces by 20% electricity by electric machine controller
Machine aided torque TaOutput；
If M °/S < ω and automobile driving speed V are 20km/h-50km/h, power steering control unit passes through electric machine controller
Reduce by 40% motor power-assisted square TaOutput；
If M °/S < ω and automobile driving speed V are 50km/h-70km/h, power steering control unit passes through electric machine controller
Reduce by 60% motor power-assisted square TaOutput；
If M °/S < ω and automobile driving speed V > 70km/h, power steering control unit is reduced by electric machine controller
80% motor power-assisted square TaOutput.
8. power steering control method according to claim 7, which is characterized in that if described M °/S < ω and garage
Speed V > 70km/h is sailed, then power steering control unit increases the resistance of motion square T of steering wheel by electric machine controllerf。
9. a kind of power steering control system, which is characterized in that including torque sensor, vehicle speed sensor, current sensor with
And the described in any item power steering control units of claim 1-8；
The steering-wheel torque sensor and the vehicle speed sensor are connect with the power steering control unit respectively, and being used for will
The driving torque T and Vehicle Speed V of steering wheel are transferred to power steering control unit；
The current sensor is used to acquire the operating current I of assist motora, and it is transferred to power steering control unit, described turn
Torque-motor power-assisted target current table is preset with to Power assisted control unit, and power steering control unit is according to the steering wheel of detection
Torque T determines the first reference current I of assist motorreAnd combine steering wheel rotational speed omega to the first reference current of assist motor
IreIt is adjusted, obtains the second reference current Ire；
Second reference current IreAnd the operating current I of assist motora, the theory of assist motor is obtained after PID regulator is adjusted
Operating current ICInput to electric machine controller, electric machine controller is according to the theoretical work electric current I of assist motorCControl motor output
Motor power-assisted square.
10. a kind of automobile, which is characterized in that including connect respectively with the power steering control unit precipitation rain fall sensor, snow
Quantity sensor and automobile enter or exit button and the power steering as claimed in claim 9 control of power steering control model
System；
The precipitation rain fall sensor is for detecting rainfall and being transferred to power steering control unit, and the snowfall sensor is for examining
It surveys snowfall and is transferred to power steering control unit.
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| CN201811202444.8A CN109278850B (en) | 2018-10-16 | 2018-10-16 | Steering power-assisted control method and system and automobile |
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| EP1031492A1 (en) * | 1999-02-23 | 2000-08-30 | Renault | Method for controlling assisting torque applied to the steering mechanism of a motor vehicle and device for carrying out this method |
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| CN109278850B (en) | 2020-09-15 |
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