CN111348100A - Vehicle alignment control method and device and vehicle - Google Patents

Vehicle alignment control method and device and vehicle Download PDF

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Publication number
CN111348100A
CN111348100A CN201811574657.3A CN201811574657A CN111348100A CN 111348100 A CN111348100 A CN 111348100A CN 201811574657 A CN201811574657 A CN 201811574657A CN 111348100 A CN111348100 A CN 111348100A
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vehicle
return
positive
voltage
speed threshold
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古存
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Beijing Treasure Car Co Ltd
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Beijing Treasure Car Co Ltd
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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
    • B62D5/0466—Controlling the motor for returning the steering wheel to neutral position
    • 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
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

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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)

Abstract

The disclosure relates to a vehicle aligning control method and device and a vehicle. The method comprises the following steps: when the steering wheel of the vehicle is turned, determining a return-to-positive state, wherein the return-to-positive state comprises active return-to-positive state and passive return-to-positive state; acquiring the speed of a vehicle; when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is less than a preset first speed threshold value, determining the voltage of the power-assisted motor by adopting a PI control method; controlling application of the determined voltage to the assist motor to control a return torque applied to the steering wheel. Therefore, different aligning control strategies are adopted according to the vehicle speed, and the aligning control effect of the EPS is better enhanced.

Description

Vehicle alignment control method and device and vehicle
Technical Field
The disclosure relates to the field of vehicle control, in particular to a vehicle aligning control method and device and a vehicle.
Background
With the continuous development of vehicle technology, the number of driving assistance systems of various vehicles is increasing. An Electric Power Steering (EPS) is a Power Steering system that directly relies on an Electric motor to provide an assist torque, and has many advantages over a conventional hps (hydraulic Power Steering). The EPS mainly comprises a torque sensor, a vehicle speed sensor, a motor, a speed reducing mechanism, an electronic control unit and the like.
The EPS system has a return control strategy. The EPS system has three basic control modes, namely power-assisted control, return-to-normal control and damping control. In the running process of the vehicle, the EPS can acquire the speed of the vehicle and input signals (torque and rotation angle) of a steering wheel in real time, so that the working mode of the system is determined. The control strategy is used as the core of the EPS system to directly influence the performance, and the return control is more a key difficulty and has great influence on the steering system and the operation stability.
Ideally, the vehicle has the capability of self-aligning due to the design of the caster angle and the caster angle of the kingpin. But sometimes the EPS system also has the condition of under-aligning or over-aligning, which needs to improve the aligning performance of the system.
Disclosure of Invention
The purpose of the disclosure is to provide a simple and practical vehicle aligning control method and device, and to provide a vehicle.
In order to achieve the above object, the present disclosure provides a return control method of a vehicle, the method including: determining a return-to-positive state when a steering wheel of the vehicle turns, wherein the return-to-positive state comprises active return-to-positive and passive return-to-positive; acquiring the speed of the vehicle; when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is less than a preset first speed threshold value, determining the voltage of the power-assisted motor by adopting a PI control method; controlling application of the determined voltage to the assist motor to control a return torque applied to the steering wheel.
Optionally, the method further comprises: and when the determined return-to-positive state is active return-to-positive and the vehicle speed of the vehicle is greater than a preset second vehicle speed threshold value, determining the voltage of the power-assisted motor by adopting a PD control method, wherein the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
Optionally, the method further comprises: and when the determined return-to-positive state is active return-to-positive, and the speed of the vehicle is greater than the preset first speed threshold value and less than a preset second speed threshold value, determining the voltage of the power-assisted motor by adopting a fuzzy PID control method, wherein the second speed threshold value is greater than the first speed threshold value.
Optionally, the PI control method is performed by the following formula:
U＝KP*θ+KI*∫θdt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KIProportional and integral coefficients, respectively.
Optionally, the PD control method is performed by the following formula:
U＝KP*θ+KD*dθ/dt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KDProportional and differential coefficients, respectively.
Optionally, the fuzzy PID control method is performed according to the following formula:
U＝KP*θ+KI*∫θdt+KD*dθ/dt
Figure BDA0001916431910000021
Figure BDA0001916431910000022
Figure BDA0001916431910000023
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KI、KDProportional, integral and derivative coefficients, respectively, d theta/dt is the angular velocity of the steering wheel,
Figure BDA0001916431910000031
Figure BDA0001916431910000032
as an initial parameter,. DELTA.KP、ΔKI、ΔKDIs a correction value.
The present disclosure also provides a return control apparatus of a vehicle, the apparatus including: the state determining module is used for determining a return-to-positive state when the steering wheel of the vehicle turns, and the return-to-positive state comprises active return-to-positive state and passive return-to-positive state; the acquisition module is used for acquiring the speed of the vehicle; the first voltage determining module is used for determining the voltage of the power-assisted motor by adopting a PI control method when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is less than a preset first speed threshold value; a control module for controlling application of the determined voltage to the assist motor to control a return torque applied to the steering wheel.
Optionally, the apparatus further comprises: and the second voltage determination module is used for determining the voltage of the power-assisted motor by adopting a PD control method when the determined return-to-positive state is active return-to-positive and the vehicle speed of the vehicle is greater than a preset second vehicle speed threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
Optionally, the apparatus further comprises: and the third voltage determining module is used for determining the voltage of the power-assisted motor by adopting a fuzzy PID control method when the determined return-to-positive state is active return-to-positive, the speed of the vehicle is greater than the preset first speed threshold and less than a preset second speed threshold, and the second speed threshold is greater than the first speed threshold.
The present disclosure also provides a vehicle, including the aligning control device of the vehicle provided by the present disclosure.
Through the technical scheme, when the vehicle speed of the vehicle is smaller than the preset first vehicle speed threshold value, the steering resistance is considered to be large, and the current steering resistance can be overcome by a large rotation torque. At the moment, a PI control method is adopted to obtain a larger aligning torque, so that a better aligning control effect is obtained.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method for controlling a return to normal of a vehicle according to an exemplary embodiment.
FIG. 2 is a block diagram of a vehicle leveling control apparatus provided in an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
FIG. 1 is a flow chart of a method for controlling a return to normal of a vehicle according to an exemplary embodiment. As shown in fig. 1, the method may include the steps of:
in step S11, when the steering wheel of the vehicle is turned, the return-to-positive state is determined. The return-to-positive state includes active return-to-positive and passive return-to-positive.
In step S12, the vehicle speed of the vehicle is acquired.
In step S13, when the determined return-to-positive state is an active return-to-positive state and the vehicle speed of the vehicle is less than a predetermined first vehicle speed threshold, the voltage of the assist motor is determined using a PI control method.
In step S14, control applies the determined voltage to the assist motor to control the return torque applied to the steering wheel.
Specifically, the steering angle and the rotation speed signal of the steering wheel may be collected, and when the absolute value of the steering angle becomes small, or the steering wheel angle θ is opposite to the direction of the angular velocity d θ/dt, the EPS system enters the return-to-positive mode.
The return torque T applied by the assist motor when the input torque T provided by the driver is in accordance with the direction of the steering wheel angle theta0In the opposite direction to the input torque TIt can be judged as passive return; conversely, when the driver provides an input torque T opposite to the direction of the steering wheel angle θ, the assist motor applies a return torque T0The steering wheel is at the input torque T and the return torque T in the same direction as the input torque T0The combined action of the two can return to the middle position and can be judged as active return-to-positive.
And controlling the power-assisted motor to operate according to the determined voltage so as to drive the steering wheel and realize the power assistance on the steering wheel. The first vehicle speed threshold may be experimentally or empirically derived and may be, for example, 15 km/h.
Because the speed of the vehicle is different, the conditions of the vehicle such as the vibration and the like caused by the steering resistance and the steering overshoot are different. When the vehicle speed of the vehicle is less than the predetermined first vehicle speed threshold, the steering resistance may be considered to be large, and a large return torque may be required to overcome the current steering resistance. At the moment, a PI control method is adopted to obtain a larger aligning torque, so that a better aligning control effect is obtained.
In the PID control method of the voltage of the assist motor, it can be performed by the following formula:
U＝KP*θ+KI*∫θdt+KD*dθ/dt (1)
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KI、KDProportional, integral and differential coefficients, respectively.
In the above formula (1), let K be the differential coefficientDTo 0, the equation for the PI control method can be found:
U＝KP*θ+KI*∫θdt (2)
in a further embodiment, on the basis of fig. 1, the method may further comprise: and when the determined return-to-positive state is active return-to-positive and the vehicle speed of the vehicle is greater than a preset second vehicle speed threshold value, determining the voltage of the power-assisted motor by adopting a PD control method, wherein the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
When the vehicle speed of the vehicle is greater than a predetermined second vehicle speed threshold, it is considered that the over-steer is likely to cause the vehicle to oscillate. Thus, it is possible to provideThe integral element can be taken out from the formula (1), the differential element is reserved, and the integral coefficient K is led toIThe damping value is 0, so that the system has a larger damping characteristic, a better effect is obtained during high-speed small-rotation-angle adjustment, and vehicle vibration caused by steering wheel rotation angle overshoot during high-speed driving is avoided.
In the above formula (1), let the integral coefficient KITo 0, the formula for the PD control method can be found:
U＝KP*θ+KD*dθ/dt (3)
the second vehicle speed threshold may be experimentally or empirically derived and may be, for example, 80 km/h.
In a further embodiment, on the basis of fig. 1, the method may further comprise: and when the determined return state is active return, and the speed of the vehicle is greater than a preset first speed threshold value and less than a preset second speed threshold value, determining the voltage of the power-assisted motor by adopting a fuzzy PID control method, wherein the second speed threshold value is greater than the first speed threshold value.
When the speed of the vehicle is greater than a preset first speed threshold and less than a preset second speed threshold, fuzzy PID control is adopted, on the basis of simplicity and convenience in PID control and high applicability, the steering wheel angle and the rotating speed are used as input, fuzzy reasoning is carried out by using a fuzzy rule, a fuzzy matrix is inquired to adjust PID parameters, and the requirements of the parameters at different speeds can be met.
Specifically, the fuzzy PID control method may be performed according to the above equation (1) and the following equation (4):
Figure BDA0001916431910000061
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KI、KDProportional, integral and derivative coefficients, respectively, d theta/dt is the angular velocity of the steering wheel,
Figure BDA0001916431910000062
Figure BDA0001916431910000063
as an initial parameter,. DELTA.KP、ΔKI、ΔKDIs a correction value.
The control takes the steering wheel angle theta and the rotation speed as input, delta KP、ΔKI、ΔKDIs the output. Calculating parameter delta K according to fuzzy control theoryP、ΔKI、ΔKDWill Δ KP、ΔKI、ΔKDSubstituting the formula (4) to obtain the corrected PID parameter value K at the current timeP、KI、KD. Wherein, KP、KIShould decrease with increasing vehicle speed, KDIt increases as the vehicle speed increases.
Based on the same inventive concept, the present disclosure also provides a return control apparatus of a vehicle. FIG. 2 is a block diagram of a vehicle leveling control apparatus provided in an exemplary embodiment. As shown in fig. 2, the return-to-center control apparatus 10 of the vehicle may include a state determination module 11, an acquisition module 12, a first voltage determination module 13, and a control module 14.
The state determination module 11 is configured to determine a return-to-positive state when a steering wheel of the vehicle is steered, where the return-to-positive state includes active return-to-positive and passive return-to-positive.
The obtaining module 12 is used for obtaining the vehicle speed of the vehicle.
The first voltage determining module 13 is configured to determine the voltage of the power assisting motor by using a PI control method when the determined return-to-positive state is the active return-to-positive state and the vehicle speed of the vehicle is less than a predetermined first vehicle speed threshold.
The control module 14 is configured to control application of the determined voltage to the assist motor to control the return torque applied to the steering wheel.
Optionally, the apparatus further comprises a second voltage determination module.
The second voltage determining module is used for determining the voltage of the power-assisted motor by adopting a PD control method when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is greater than a preset second vehicle speed threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
Optionally, the apparatus further comprises a third voltage determination module.
The third voltage determining module is used for determining the voltage of the power-assisted motor by adopting a fuzzy PID control method when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is greater than a preset first vehicle speed threshold and less than a preset second vehicle speed threshold, and the second vehicle speed threshold is greater than the first vehicle speed threshold.
Optionally, the PI control method is performed by the following formula:
U＝KP*θ+KI*∫θdt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KIProportional and integral coefficients, respectively.
Optionally, the PD control method is performed by the following formula:
U＝KP*θ+KD*dθ/dt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KDProportional and differential coefficients, respectively.
Optionally, the fuzzy PID control method is performed according to the following formula:
U＝KP*θ+KI*∫θdt+KD*dθ/dt
Figure BDA0001916431910000071
Figure BDA0001916431910000072
Figure BDA0001916431910000073
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KI、KDProportional, integral and derivative coefficients, respectively, d theta/dt is the angular velocity of the steering wheel,
Figure BDA0001916431910000081
Figure BDA0001916431910000082
as an initial parameter,. DELTA.KP、ΔKI、ΔKDIs a correction value.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Through the technical scheme, when the vehicle speed of the vehicle is smaller than the preset first vehicle speed threshold value, the steering resistance is considered to be large, and the current steering resistance can be overcome by a large rotation torque. At the moment, a PI control method is adopted to obtain a larger aligning torque, so that a better aligning control effect is obtained.
Based on the same inventive concept, the present disclosure also provides a vehicle. The vehicle comprises the vehicle aligning control device 10 provided by the disclosure.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A method of controlling a return to a neutral position of a vehicle, the method comprising:
determining a return-to-positive state when a steering wheel of the vehicle turns, wherein the return-to-positive state comprises active return-to-positive and passive return-to-positive;
acquiring the speed of the vehicle;
when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is less than a preset first speed threshold value, determining the voltage of the power-assisted motor by adopting a PI control method;
controlling application of the determined voltage to the assist motor to control a return torque applied to the steering wheel.
2. The method of claim 1, further comprising:
and when the determined return-to-positive state is active return-to-positive and the vehicle speed of the vehicle is greater than a preset second vehicle speed threshold value, determining the voltage of the power-assisted motor by adopting a PD control method, wherein the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and when the determined return-to-positive state is active return-to-positive, and the speed of the vehicle is greater than the preset first speed threshold value and less than a preset second speed threshold value, determining the voltage of the power-assisted motor by adopting a fuzzy PID control method, wherein the second speed threshold value is greater than the first speed threshold value.
4. The method of claim 1, wherein the PI control method is performed by the following equation:
U＝KP*θ+KI*∫θdt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KIProportional and integral coefficients, respectively.
5. The method of claim 2, wherein the PD control method is performed by the following equation:
U＝KP*θ+KD*dθ/dt
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KDProportional and differential coefficients, respectively.
6. The method according to claim 3, wherein the fuzzy PID control method is performed according to the following equation:
U＝KP*θ+KI*∫θdt+KD*dθ/dt
Figure FDA0001916431900000021
Figure FDA0001916431900000022
Figure FDA0001916431900000023
wherein U is the voltage of the power-assisted motor, theta is the steering wheel angle, t is the time, KP、KI、KDProportional, integral and derivative coefficients, respectively, d theta/dt is the angular velocity of the steering wheel,
Figure FDA0001916431900000024
Figure FDA0001916431900000025
as an initial parameter,. DELTA.KP、ΔKI、ΔKDIs a correction value.
7. A return correction control apparatus of a vehicle, characterized by comprising:
the state determining module is used for determining a return-to-positive state when the steering wheel of the vehicle turns, and the return-to-positive state comprises active return-to-positive state and passive return-to-positive state;
the acquisition module is used for acquiring the speed of the vehicle;
the first voltage determining module is used for determining the voltage of the power-assisted motor by adopting a PI control method when the determined return-to-positive state is active return-to-positive and the speed of the vehicle is less than a preset first speed threshold value;
a control module for controlling application of the determined voltage to the assist motor to control a return torque applied to the steering wheel.
8. The apparatus of claim 7, further comprising:
and the second voltage determination module is used for determining the voltage of the power-assisted motor by adopting a PD control method when the determined return-to-positive state is active return-to-positive and the vehicle speed of the vehicle is greater than a preset second vehicle speed threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
9. The apparatus of claim 7 or 8, further comprising:
and the third voltage determining module is used for determining the voltage of the power-assisted motor by adopting a fuzzy PID control method when the determined return-to-positive state is active return-to-positive, the speed of the vehicle is greater than the preset first speed threshold and less than a preset second speed threshold, and the second speed threshold is greater than the first speed threshold.
10. A vehicle characterized by comprising the return-to-positive control apparatus of the vehicle according to any one of claims 7 to 9.
CN201811574657.3A 2018-12-21 2018-12-21 Vehicle alignment control method and device and vehicle Pending CN111348100A (en)

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