CN112158254B - Calibration method of electric adjusting steering column - Google Patents
Calibration method of electric adjusting steering column Download PDFInfo
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- CN112158254B CN112158254B CN202010785076.5A CN202010785076A CN112158254B CN 112158254 B CN112158254 B CN 112158254B CN 202010785076 A CN202010785076 A CN 202010785076A CN 112158254 B CN112158254 B CN 112158254B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
- B62D1/16—Steering columns
- B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
- B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
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Abstract
The application discloses a calibration method of an electric adjusting steering column, which relates to the technical field of automobiles and comprises the following steps: setting a zero position of the steering column according to the limit position of the steering column, and determining the mapping relation between the number of rotation turns of the motor and the displacement of the steering column; taking the position of the steering column when the power is off as a power-off memory position and storing the power-off memory position, and then adjusting the steering column to the zero position of the steering column; taking the number of rotation turns corresponding to the position where the steering column moves from the zero position to the power-off memory position as the theoretical number of rotation turns of the motor; when the vehicle is electrified again, controlling the steering column to move according to the theoretical number of rotation turns to obtain the electrified position of the steering column; if the error between the power-off memory position and the power-on position is within a preset range, the calibration is finished, otherwise, the mapping relation between the number of rotation turns of the motor and the displacement of the steering column is modified according to the error. The calibration method can enable the steering column to be adjusted more quickly and accurately.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a calibration method of an electric adjusting steering column.
Background
Steering columns are used to connect steering wheels and steering gears and are one of the important components of an automotive steering system. In the field of vehicle engineering, steering columns allow the position of the steering wheel to be adjusted up and down within a certain range to suit the operating habits of the driver.
At present, in order to improve the competitiveness and the driving comfort of products, an electric steering column with adjustable four directions is developed, namely the steering column and the steering wheel are adjusted in the vertical angle and the front and back positions through a motor. The adjustment of the front direction, the rear direction, the upper direction and the lower direction of the steering wheel can be finished only by giving corresponding action instructions according to the requirements of a driver, so that the driver can conveniently get in and out.
In the related art, the calibration problem of the adjustment of the electric steering column with four-direction adjustment is not considered, and the adjustment accuracy of the electric steering column cannot be ensured.
Disclosure of Invention
Aiming at one of the defects in the prior art, the application aims to provide a calibration method for an electric adjusting steering column so as to solve the problem that the adjusting accuracy of the electric steering column cannot be ensured in the related technology.
The application provides a calibration method of an electric adjusting steering column, wherein a motor for adjusting the displacement of the steering column is arranged on the steering column, and the calibration method comprises the following steps:
setting a zero position of the steering column according to the limit position of the steering column, and determining the mapping relation between the number of turns of the motor and the displacement of the steering column;
taking the position of the steering column when the steering column is powered down as a power-down memory position and storing the power-down memory position, and then adjusting the steering column to the zero position of the steering column; taking the number of rotation turns corresponding to the position where the steering column moves from the zero position to the power-off memory position as the theoretical number of rotation turns of the motor;
when the vehicle is electrified again, controlling the steering column to move according to the theoretical number of turns of rotation to obtain the electrified position of the steering column;
if the error between the power-off memory position and the power-on position is in a preset range, the calibration is finished, otherwise, the mapping relation between the number of turns of the motor and the displacement of the steering column is modified according to the error.
In some embodiments, modifying the mapping relationship between the number of rotations of the motor and the displacement of the steering column according to the error specifically includes:
estimating the number of compensation rotations of the motor to be compensated according to the error;
and modifying the mapping relation by taking the sum of the theoretical rotation number and the compensation rotation number as a new rotation number.
In some embodiments, the steering column is provided with an angle adjusting device and an axial adjusting device, the motors comprise a first motor and a second motor, the angle adjusting device comprises the first motor for controlling the steering column to swing, and the axial adjusting device comprises the second motor for controlling the steering column to move axially;
the mapping relationship comprises a first mapping relationship between the number of rotations of the first motor and the swing angle of the steering column and a second mapping relationship between the number of rotations of the second motor and the axial distance of the steering column.
In some embodiments, determining the first mapping relationship specifically includes:
taking the position of the upper limit position of the steering column, which is a first set distance downwards, as a swing zero position, and taking the position of the steering column, which moves from the upper limit position to the swing zero position, as a first swing angle, and acquiring and storing a first number of rotation turns of a first motor corresponding to the first swing angle;
taking the steering column moving from the swing zero position to the lower limit position as a second swing angle, and acquiring and storing a second rotation number of turns of the first motor corresponding to the second swing angle;
and determining the first mapping relation according to the first rotation number corresponding to the first swing angle and the second rotation number corresponding to the second swing angle.
In some embodiments, determining the second mapping relationship specifically includes:
taking the position of the steering column, which is a third set distance backward from the front limit position, as an axial zero position, and taking the position of the steering column, which moves from the front limit position to the axial zero position, as a first axial distance, and acquiring and storing a fourth number of rotations of a second motor corresponding to the first axial distance;
taking the distance from the axial zero position to the rear limit position of the steering column as a second axial distance, and acquiring and storing a fifth rotation number of turns of the second motor corresponding to the second axial distance;
and determining the second mapping relation according to a fourth rotation number corresponding to the first axial distance and a fifth rotation number corresponding to the second axial distance.
In some embodiments, the setting of the zero position of the steering column further includes:
and selecting the rotating speed of the motor according to the set adjusting speed of the steering column.
In some embodiments, the step of storing the position of the steering column when the steering column is powered down as a power-down memory position, and then adjusting the steering column to the zero position of the steering column specifically includes:
taking the position of the steering column when the steering column is powered off as a power-off memory position, and acquiring the theoretical number of turns of the motor as power-off memory position data;
the steering column is controlled to move to the zero position from the power-off memory position through the motor.
In some embodiments, if the vehicle is powered off abnormally last time, when the vehicle is powered on again, the motor controls the steering column to move to a zero position, and then the steering column is controlled to move according to the theoretical number of rotations of the motor, and a power-on position is obtained.
In some embodiments, before powering down the vehicle, the method further includes:
judging whether the steering column meets a memory calibration condition or not;
if so, taking the current position of the steering column as a storage memory position; moving the steering column from a zero position to a stored memory position to correspond to the number of rotation turns to be used as the stored number of rotation turns of the motor;
after the steering column is adjusted to any other position, triggering a memory recovery signal, and controlling the steering column to move according to the stored rotation turns to obtain a triggering position of the steering column;
and if the error between the stored memory position and the trigger position is in a preset range, the memory calibration is finished, otherwise, the mapping relation between the number of turns of the motor and the displacement of the steering column is modified according to the error.
In some embodiments, after the motor is started, the method further includes:
collecting the working current and the working voltage of the motor;
when the working current exceeds the current range or the working voltage exceeds the voltage range, controlling the motor to stop;
and when the working current does not exceed the current range, if the Hall signal of the position of the steering column is unchanged within the preset time, controlling the motor to stop.
The beneficial effect that technical scheme that this application provided brought includes:
according to the calibration method of the electric adjusting steering column, the mapping relation between the number of rotation turns of the motor and the displacement of the steering column can be determined according to the set zero position of the steering column and the limit position of the steering column, then the steering column which is electrified again is adjusted according to the electricity-off memory position stored in the electricity-off process, the electricity-on position of the steering column can be obtained, the electricity-off memory position and the electricity-on position are compared, if the error between the electricity-off memory position and the electricity-on position is within the preset range, the calibration is finished, otherwise, the mapping relation between the number of rotation turns of the motor and the displacement of the steering column needs to be modified according to the error, and therefore, through the calibration method, the accurate mapping relation can be obtained, and the adjustment of the steering column is quicker and more accurate.
Drawings
Fig. 1 is a first flowchart of a calibration method provided in an embodiment of the present application;
fig. 2 is a second flowchart of a calibration method provided in the embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1, an embodiment of the present application provides a calibration method for an electrically adjustable steering column, where a motor for adjusting displacement of the steering column is disposed on the steering column. The calibration method comprises the following steps:
s1, setting a zero position of the steering column according to the limit position of the steering column, and determining the mapping relation between the number of turns of the motor and the displacement of the steering column. In this embodiment, the soft limit position of the steering column can also be set according to the extreme limit position and the zero position of the steering column.
And S2, taking the position of the steering column when the steering column is powered off as a power-off memory position, storing the power-off memory position, and then adjusting the steering column to the zero position of the steering column. When the steering column controller receives the power-off signal, the position of the steering column is used as the power-off position of the steering column, the Hall signal of the power-off position is stored, and after the storage is finished, the power-off can be finished by returning to zero. And taking the number of rotation turns corresponding to the movement of the steering column from the zero position to the lower electricity memory position, namely the number of turns recorded by the Hall signal, as the theoretical number of rotation turns of the motor.
Preferably, the position at which the power-down is started is any position other than the limit position of the steering column.
And S3, when the vehicle is electrified again, controlling the steering column to move according to the theoretical number of turns of rotation to obtain the electrified position of the steering column. In the moving process of the steering column, different motor rotating speeds can be set to quickly adjust the steering column.
And S4, comparing the power-off memory position with the power-on position, if the error between the power-off memory position and the power-on position is within a preset range, indicating that the calibration is finished, otherwise, modifying the mapping relation between the number of turns of the motor and the displacement of the steering column according to the error, then repeating the step S2 to store a new power-off memory position, and powering up again for calibration until the error between the new power-off memory position and the power-on position is within the preset range.
According to the calibration method, the steering column which is electrified again is adjusted according to the stored electrification memory position during electrification, the electrification position of the steering column can be obtained, the electrification memory position and the electrification position are compared, if the error between the electrification memory position and the electrification position is within the preset range, calibration is completed, otherwise, the mapping relation between the number of rotation turns of the motor and the displacement of the steering column needs to be modified according to the error, and therefore the accurate mapping relation can be obtained through the calibration method, and the adjustment of the steering column is enabled to be faster and more accurate.
The steering column controller of this embodiment includes a position memory function, a power-down return-to-zero function, and a power-up reset function. The position memory function means that the steering column controller can store the position to be stored as a memory position so as to adjust the steering column to the memory position after triggering a memory recovery signal; the power-off return-to-zero function is that when the whole vehicle is powered off, the first motor and the second motor are controlled to adjust the steering column to a zero position, so that a driver can get off the vehicle without being influenced by a steering wheel; the power-on reset function is that after the whole vehicle is powered on, the steering column controller controls the first motor and the second motor to adjust the steering column to a power-off memory position for last power-off storage, so that the trouble of each adjustment is reduced. In the power-on reset process, if the vehicle controller, the vehicle body controller or the steering column controller sends other instructions, the steering column is adjusted according to the other instructions.
Further, in step S4, modifying the mapping relationship between the number of rotations of the motor and the displacement of the steering column according to the error specifically includes:
firstly, the number of compensation rotations of the motor to be compensated is estimated according to the error.
And then, taking the sum of the theoretical number of rotations and the compensation number of rotations as a new number of rotations, namely, adding the theoretical number of rotations to the compensation number of rotations to obtain the actually required number of rotations of the motor so as to modify the mapping relation.
In this embodiment, the steering column is provided with an angle adjusting device and an axial adjusting device, the motor includes a first motor and a second motor, the angle adjusting device includes the first motor for controlling the steering column to swing, and the axial adjusting device includes the second motor for controlling the steering column to move axially. The up-and-down swing angle of the steering column is adjusted into Z-direction adjustment, and the front-and-back axial adjustment of the steering column is adjusted into X-direction adjustment.
The mapping relationship comprises a first mapping relationship between the number of rotations of the first motor and the swing angle of the steering column and a second mapping relationship between the number of rotations of the second motor and the axial distance of the steering column.
Further, determining the first mapping relationship specifically includes:
firstly, the steering column is adjusted to an upper limit position in the Z direction, namely a highest mechanical limit position, and a position which is a first set distance below the upper limit position of the steering column is used as a swing zero position. And adjusting the steering column to move from the upper limit position to the swing zero position, taking the swing angle in the moving process as a first swing angle, acquiring and storing the number of rotation turns of the first motor corresponding to the first swing angle, and taking the number of rotation turns as a first number of rotation turns.
Then, the lower extreme position in the Z direction is the lowest mechanical extreme position. And adjusting the steering column to move from a swing zero position to a lower limit position, taking a swing angle in the moving process as a second swing angle, acquiring and storing the number of rotation turns of the first motor corresponding to the second swing angle, and taking the number of rotation turns as a second number of rotation turns.
And finally, determining the first mapping relation and the swing angle between the upper limit position and the lower limit position according to the first rotation number corresponding to the first swing angle and the second rotation number corresponding to the second swing angle.
In this embodiment, the position of the lower limit position of the steering column that is a second set distance above the lower limit position is used as a first soft limit position, the steering column is moved from the lower limit position to the first soft limit position, the swing angle in the moving process is used as a third swing angle, and the number of rotations of the first motor corresponding to the third swing angle is acquired and stored, and is used as a third number of rotations. The first soft limit position is configured to: the impact from the steering column to the lower limit position and the locked rotor of the motor can be avoided, the working noise is reduced, and the service life of the steering column is prolonged.
Further, determining the second mapping relationship specifically includes:
firstly, the steering column is adjusted to the front limit position in the X direction, namely the foremost mechanical limit position, and the position of the third set distance backward from the front limit position of the steering column is used as an axial zero position. And moving the steering column from the front limit position to an axial zero position, taking the axial distance in the moving process as a first axial distance, acquiring and storing the number of rotation turns of a second motor corresponding to the first axial distance, and taking the number of rotation turns as a fourth number of rotation turns.
The rear extreme position in the X direction is then the final mechanical extreme position. And moving the steering column from the axial zero position to the rear limit position of the steering column, taking the axial distance in the moving process as a second axial distance, acquiring and storing the number of rotation turns of a second motor corresponding to the second axial distance, and taking the number of rotation turns as a fifth number of rotation turns.
And finally, determining the second mapping relation and the axial distance between the front limit position and the rear limit position according to the fourth rotation turn number corresponding to the first axial distance and the fifth rotation turn number corresponding to the second axial distance.
In this embodiment, the position from the rear limit position to the fourth set distance forward of the rear limit position of the steering column is set as a second soft limit position, the steering column is moved from the rear limit position to the second soft limit position, the axial distance in the moving process is set as a third axial distance, and the number of rotations of the second motor corresponding to the third axial distance is acquired and stored, and is set as a sixth number of rotations. The second soft limit position is configured to: the impact from the steering column to the rear limit position and the locked rotor of the motor can be avoided, the working noise is reduced, and the service life of the steering column is prolonged.
Preferably, in the step S1, when the zero position of the steering column is set, the method further includes:
and selecting the rotating speed of the motor corresponding to the set adjusting speed according to the set adjusting speed of the steering column so as to achieve the required adjusting time.
In this embodiment, statistical analysis may be performed on the speed and time of the up-down adjustment and the axial adjustment of each racing car in advance, and then a set adjustment speed and time suitable for the up-down adjustment and the axial adjustment of the steering column of this embodiment may be set.
In the embodiment, the first motor and the second motor are respectively started under different voltages (DC9-16V) to test whether the regulation process is smooth. The first motor and the second motor are both driven in a PWM (pulse width modulation) mode, and are started in a soft start mode.
In this embodiment, in the step S2, taking the position of the steering column at the time of powering down as the power-down memory position and storing the power-down memory position, and then adjusting the steering column to the zero position of the steering column specifically includes:
firstly, the position of the steering column when the steering column is powered down is used as a power-down memory position, and the theoretical number of rotations of the motor is obtained and used as power-down memory position data.
Then, the steering column is controlled to move to a zero position from the power-off memory position through the motor, and power-off is completed.
Optionally, during the power-down zeroing process, different motor rotation speeds can be set so that the steering column can quickly complete the adjustment process. In addition, in the power-off zeroing process, except for abnormal power-off such as sudden power failure, the zeroing process cannot be interrupted by any other instructions.
In this embodiment, abnormal power down can also be caused by artificial power failure. After the vehicle is abnormally powered off and the vehicle is powered on again, the motor controls the steering column to move to a zero position, then the steering column is controlled to move according to the theoretical number of turns of rotation from the zero position to the power-off memory position, the power-on position is obtained, then the power-off memory position and the power-on position can be compared, and whether the mapping relation between the number of turns of rotation of the motor and the displacement of the steering column needs to be modified or not is judged.
In this embodiment, the following table 1 may be used to record the calibration information and compare the calibration results. In the normal power-off calibration process, comparing the power-on position in X direction after power-on again in the serial number 5 with the power-off position in X direction when power-off is performed in the serial number 1, and comparing the power-on position in Z direction after power-on again in the serial number 6 with the power-off position in Z direction when power-off is performed in the serial number 2; in the abnormal power-off calibration process, the power-on position in the X direction after power-on again in the serial number 13 is compared with the power-off position in the X direction when power-off occurs in the serial number 7, and the power-on position in the Z direction after power-on again in the serial number 14 is compared with the power-off position in the Z direction when power-off occurs in the serial number 8.
TABLE 1
Preferably, before the vehicle is powered off, the method further comprises a memory calibration processing step. The memory calibration step specifically comprises the following steps:
firstly, whether the steering column meets the memory calibration condition is judged. The condition meeting the memory calibration comprises that the vehicle is in a starting state and in a P gear, and the memory calibration does not meet the standard after the power-on.
And if the current position of the steering column meets the memory calibration condition, taking the current position of the steering column as a memory position. And moving the steering column from the zero position to a storage memory position to store the corresponding number of rotation turns of the motor. In this embodiment, the number of rotations of the motor is determined by collecting hall signals.
And then, after the steering column is adjusted to any other position, a CAN message command is sent to a steering column controller through a DSMC (memory storage controller) to trigger a memory recovery signal, the steering column controller acquires the current gear state and the Hall signal of the current position of the vehicle, and controls the steering column to move according to the number of stored rotation turns to obtain the trigger position of the steering column. In this embodiment, the movement of the steering column includes a process of controlling the Z-direction adjustment and a process of controlling the X-direction adjustment. In this process, the motor speed can be set to achieve the desired speed adjustment.
Comparing the trigger position with the storage memory position, including comparing the Z-direction storage memory position with the Z-direction trigger position, and comparing the X-direction storage memory position with the X-direction trigger position. If the error between the stored memory position and the trigger position is in a preset range, memory calibration is finished, otherwise, the mapping relation between the number of turns of the motor and the displacement of the steering column is modified according to the error, and the memory calibration step is carried out again until the error between the stored memory position and the trigger position is in the preset range.
Referring to fig. 2, the calibration method of the present embodiment specifically includes:
A1. after the zero position of the steering column is set, determining a first mapping relation between the number of rotation turns of the first motor and the swing angle of the steering column;
A2. determining a second mapping relation between the number of rotation turns of the second motor and the axial distance of the steering column;
A3. judging whether the steering column meets the memory calibration condition, if so, turning to A4, otherwise, turning to A6;
A4. taking the current position of the steering column as a storage memory position and storing the storage memory position, then adjusting the steering column to any other position, and triggering a memory recovery signal to obtain a triggering position of the steering column;
A5. judging whether the error between the memory position and the trigger position is in a preset range, if so, turning to A6, otherwise, modifying the mapping relation, and turning to A3;
A6. and taking the position of the steering column when the steering column is powered off as a power-off memory position and storing the theoretical number of turns of rotation, and then adjusting the steering column to the zero position of the steering column. Taking the number of rotation turns corresponding to the position where the steering column moves from the zero position to the power-off memory position as the theoretical number of rotation turns of the motor;
A7. the vehicle is electrified again, and the steering column is controlled to move to an electrified position according to the theoretical number of rotation turns;
A8. judging whether the error between the power-off memory position and the power-on position is within a preset range, if so, turning to A9, otherwise, modifying the mapping relation, and turning to A3;
A9. and completing calibration.
In this embodiment, after the motor is started, the method further includes acquiring the working current and the working voltage of the motor in real time, and performing fault diagnosis to protect the motor and the steering column controller and meet the safety requirements.
And when the working voltage exceeds the voltage range, the steering column controller controls the motor to stop until the working voltage is recovered to be normal, and then the motor is driven. In this embodiment, the voltage range is 9-16V.
And when the working current exceeds the current range, controlling the motor to stop. In this embodiment, if the operating current is greater than the locked-rotor current, the motor is controlled to stop. Further, since the operating current of the motor hardly reaches or approaches the locked-rotor current when the steering column is at a position other than the mechanical limit position, it is necessary to control the motor to stop for protection even when the operating current of the motor reaches 3/4 of the locked-rotor current and the steering column is not at the mechanical limit position.
And when the working current does not exceed the current range, if the Hall signal of the position of the steering column is unchanged within the preset time, controlling the motor to stop.
In this embodiment, the fault diagnosis further includes power-on current diagnosis. And whether the hardware current sampling is normal or not is checked by acquiring whether the zero current value is within the range or not. Wherein, the zero current value is the static current when the motor does not work. If the zero current value is not within the range, the current state needs to be checked, and an error is reported through the CAN.
In this embodiment, before and during the operation of the motor, the voltage, current, temperature, and vehicle speed signals need to be diagnosed, and if an overrun or a fault occurs, the motor does not operate, and the current state is reported through the CAN.
According to the calibration method, the accurate first mapping relation between the number of rotation turns of the first motor and the swing angle of the steering column and the accurate second mapping relation between the number of rotation turns of the second motor and the axial distance of the steering column can be obtained, so that the steering column can be accurately adjusted in place, and the adjustment speed is reasonable.
The present application is not limited to the above embodiments, and it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present application, and such modifications and improvements are also considered to be within the scope of the present application.
Claims (9)
1. A calibration method for an electric regulation steering column is characterized in that a motor for regulating the displacement of the steering column is arranged on the steering column, and the calibration method comprises the following steps:
setting a zero position of the steering column according to the limit position of the steering column, and determining the mapping relation between the number of turns of the motor and the displacement of the steering column;
taking the position of the steering column when the steering column is powered off as a power-off memory position and storing the power-off memory position, and then adjusting the steering column to the zero position of the steering column; taking the number of rotation turns corresponding to the position where the steering column moves from the zero position to the power-off memory position as the theoretical number of rotation turns of the motor;
when the vehicle is electrified again, controlling the steering column to move according to the theoretical number of turns of rotation to obtain the electrified position of the steering column;
if the error between the power-off memory position and the power-on position is within a preset range, the calibration is finished, otherwise, the mapping relation between the number of rotation turns of the motor and the displacement of the steering column is modified according to the error;
the motor comprises a first motor, and the mapping relation comprises a first mapping relation between the number of rotation turns of the first motor and the swing angle of the steering column;
determining the first mapping relationship specifically includes:
taking a position of a first set distance from an upper limit position of the steering column to the lower position as a swing zero position, and taking the position of the steering column moving from the upper limit position to the swing zero position as a first swing angle, and acquiring and storing a first rotation number of turns of a first motor corresponding to the first swing angle;
taking the steering column moving from the swing zero position to the lower limit position as a second swing angle, and acquiring and storing a second rotation number of turns of the first motor corresponding to the second swing angle;
and determining the first mapping relation according to a first rotation number corresponding to the first swing angle and a second rotation number corresponding to the second swing angle.
2. The calibration method of the electrically adjusted steering column according to claim 1, wherein the step of modifying the mapping relationship between the number of rotations of the motor and the displacement of the steering column according to the error specifically comprises the following steps:
estimating the number of compensation rotations of the motor to be compensated according to the error;
and modifying the mapping relation by taking the sum of the theoretical rotation number and the compensation rotation number as a new rotation number.
3. A method of calibrating an electrically adjustable steering column according to claim 1, wherein: the steering column is provided with an angle adjusting device and an axial adjusting device, the motor further comprises a second motor, the angle adjusting device comprises a first motor used for controlling the steering column to swing, and the axial adjusting device comprises a second motor used for controlling the steering column to move axially;
the mapping relationship further comprises a second mapping relationship between the number of rotations of the second motor and the axial distance of the steering column.
4. A method for calibrating an electrically actuated steering column according to claim 3, wherein determining the second mapping specifically comprises:
taking the position of the steering column, which is a third set distance backward from the front limit position, as an axial zero position, and taking the position of the steering column, which moves from the front limit position to the axial zero position, as a first axial distance, and acquiring and storing a fourth number of rotations of a second motor corresponding to the first axial distance;
taking the movement of the steering column from the axial zero position to the rear limit position thereof as a second axial distance, and acquiring and storing a fifth rotation number of turns of the second motor corresponding to the second axial distance;
and determining the second mapping relation according to a fourth rotation number corresponding to the first axial distance and a fifth rotation number corresponding to the second axial distance.
5. The method for calibrating an electrically adjustable steering column according to claim 1, wherein the setting of the zero position of the steering column further comprises:
and selecting the rotating speed of the motor according to the set adjusting speed of the steering column.
6. The method for calibrating an electrically adjustable steering column according to claim 1, wherein the step of storing the position of the steering column when the steering column is powered down is performed, and then adjusting the steering column to the zero position of the steering column specifically comprises the steps of:
taking the position of the steering column when the steering column is powered off as a power-off memory position, and acquiring the theoretical number of turns of the motor as power-off memory position data;
and controlling the steering column to move to a zero position from the power-off memory position through the motor.
7. A method of calibrating an electrically adjustable steering column according to claim 1, wherein:
and if the power is off abnormally for the last time, when the vehicle is powered on again, the motor controls the steering column to move to the zero position, and then the steering column is controlled to move according to the theoretical number of rotations of the motor, and the power-on position is obtained.
8. A method of calibrating an electrically adjustable steering column according to claim 1, wherein prior to powering down the vehicle, the method further comprises:
judging whether the steering column meets a memory calibration condition or not;
if so, taking the current position of the steering column as a storage memory position; moving the steering column from a zero position to a storage memory position to correspond to the number of rotation turns to be used as the number of storage rotation turns of the motor;
after the steering column is adjusted to any other position, triggering a memory recovery signal, and controlling the steering column to move according to the stored rotation turns to obtain a triggering position of the steering column;
and if the error between the stored memory position and the trigger position is within a preset range, the memory calibration is finished, otherwise, the mapping relation between the number of turns of the motor and the displacement of the steering column is modified according to the error.
9. A method for calibrating an electrically adjustable steering column according to claim 1, wherein after the motor is started, the method further comprises:
collecting the working current and the working voltage of the motor;
when the working current exceeds the current range or the working voltage exceeds the voltage range, controlling the motor to stop;
and when the working current does not exceed the current range, if the Hall signal of the position of the steering column is unchanged within the preset time, controlling the motor to stop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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