CN116353688A - Control method and device for active positive-feedback electric power steering system - Google Patents
Control method and device for active positive-feedback electric power steering system Download PDFInfo
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- CN116353688A CN116353688A CN202111631977.XA CN202111631977A CN116353688A CN 116353688 A CN116353688 A CN 116353688A CN 202111631977 A CN202111631977 A CN 202111631977A CN 116353688 A CN116353688 A CN 116353688A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the invention provides a control method and a device for an active positive-feedback electric power steering system, and relates to the technical field of electric power. The method comprises the following steps: the method comprises the steps of obtaining the speed, steering wheel angle, steering wheel torque and motor rotating speed of a vehicle, determining a target return speed according to the speed and the steering wheel angle, determining the actual return speed of the vehicle according to the motor rotating speed, determining a speed difference value according to the target return speed and the actual return speed, determining corresponding parameters of PID parameters according to the steering wheel torque and the speed, determining a target return current according to the speed difference value and the corresponding parameters of the PID parameters, and finally outputting a return torque to control the return of an electric power steering system according to the target return current. The embodiment of the invention not only designs the positive return current attenuation module, reduces the hand feeling, but also controls the electric power steering system, avoids the false identification of the return state, improves the stability of the whole electric power steering system, and is a better self-adaptive processing method.
Description
Technical Field
The invention relates to the technical field of electric power assist, in particular to a control method of an active positive power assist steering system and a control device of the active positive power assist steering system.
Background
In recent years, the automobile industry has rapidly developed, and the automobile steering system technology has also come to be a new, more integrated and more efficient way, namely an electric power steering system (EPS). The technology is increasingly applied to various vehicle types, because the technology has a series of advantages of better performance than a mechanical steering system and a hydraulic steering system, good steering following performance, convenient and flexible operation, good return performance, compact structure, convenient installation and modeling, good low-temperature performance, energy conservation, environmental protection and the like, and the key factor influencing EPS performance is a control strategy, and the return strategy is a serious importance of the control strategy. Good reconversion performance can increase the drivability and stability of the vehicle.
At present, two main flow positive control strategies exist in the market, namely, one direct steering wheel position corresponds to the positive moment for positive return; and the steering wheel position corresponds to the target return speed, and the vehicle is in an ideal active return state by controlling the size of the target return speed. The smoothness and the residual angle of the active centering strategy side re-centering at the present stage are not properly considered in the active centering module for steering hand feeling. Moreover, the active centering module can have great influence on steering handfeel.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention are directed to a method of controlling an active-power-assist steering system and a corresponding apparatus for controlling an active-power-assist steering system that overcome or at least partially solve the foregoing problems.
In order to solve the above problems, an embodiment of the present invention discloses a control method of an active return positive electric power steering system, the method comprising:
acquiring the speed, steering wheel angle, steering wheel torque and motor rotation speed of a vehicle;
determining a target return speed according to the vehicle speed and the steering wheel angle;
determining the actual correcting speed of the vehicle according to the motor rotating speed;
determining a speed difference according to the target return speed and the actual return speed;
determining corresponding parameters of PID parameters according to the steering wheel torque and the vehicle speed;
determining a target positive return current according to the speed difference value and the corresponding parameter of the PID parameter;
and outputting a correcting moment to control the electric power steering system to correct according to the target correcting current.
Optionally, the determining the target return speed according to the vehicle speed and the steering wheel angle includes:
acquiring a first mapping relation of the vehicle speed, the steering wheel angle and the return-to-positive angular speed;
and determining a corresponding target return speed from the first mapping relation according to the vehicle speed and the steering wheel angle.
Optionally, the determining the actual return speed of the vehicle according to the motor rotation speed includes:
acquiring a steering motor reduction ratio and a steering gear line angle transmission ratio of the motor;
and determining the actual return speed according to the reduction ratio of the steering motor and the linear angle transmission ratio of the steering gear.
Optionally, the PID parameters include a proportional parameter KPGain, an integral parameter KIGain, and a derivative parameter KDGain, and the determining, according to the steering wheel torque and the vehicle speed, corresponding parameters of the PID parameters includes:
acquiring a second mapping relation between steering wheel torque, vehicle speed and proportional parameters, a third mapping relation between steering wheel torque, vehicle speed and integral parameters, and a fourth mapping relation between steering wheel torque, vehicle speed and differential parameters;
determining a proportion parameter from the second mapping relation according to the steering wheel torque and the vehicle speed;
determining an integral parameter from the third mapping relation according to the steering wheel torque and the vehicle speed;
and determining a differential parameter from the fourth mapping relation according to the steering wheel torque and the vehicle speed.
Optionally, the determining the target positive return current according to the speed difference value and the corresponding parameter of the PID parameter includes:
multiplying the speed difference value by the number of the proportion parameter to obtain a first product;
multiplying the speed difference value by the number of the integral parameter to obtain a second product;
multiplying the speed difference value by the number of the differential parameter to obtain a third multiplication product;
and adding the first product, the second product and the third product to obtain the target return positive current.
Optionally, when the speed difference is a positive value, the target return positive current is a forward current; when the speed difference value is a negative value, the target return positive current is a reverse current;
and controlling the electric power steering system to return according to the target return positive current by outputting a return torque, comprising the following steps:
when the target positive return current is positive current, outputting a return moment to assist the electric power steering system to return according to the target positive return current;
and when the target positive return current is reverse current, outputting a positive return moment according to the target positive return current to inhibit the electric power steering system from being returned.
Correspondingly, the embodiment of the invention discloses a method for manufacturing the LED display device
Determining a target positive return current according to the speed difference value and the corresponding parameter of the PID parameter;
and the aligning module is used for outputting aligning moment to control the electric power steering system to align according to the target aligning current.
Optionally, the target return speed module includes:
the first mapping relation submodule is used for acquiring a first mapping relation of the vehicle speed, the steering wheel angle and the return-to-positive angular speed;
and the target return speed sub-module is used for determining the corresponding target return speed from the first mapping relation according to the vehicle speed and the steering wheel angle.
Optionally, the actual return speed module includes:
the motor data acquisition sub-module is used for acquiring the steering motor reduction ratio and the steering gear line angle transmission ratio of the motor;
and the actual return speed sub-module is used for determining the actual return speed according to the reduction ratio of the steering motor and the linear angle transmission ratio of the steering gear.
Optionally, the PID parameters include a proportional parameter KPGain, an integral parameter KIGain, and a derivative parameter KDGain, and the determining PID parameter module includes:
the mapping relation acquisition sub-module is used for acquiring a second mapping relation between steering wheel torque, vehicle speed and proportional parameters, a third mapping relation between steering wheel torque, vehicle speed and integral parameters, and a fourth mapping relation between steering wheel torque, vehicle speed and differential parameters;
the second mapping relation submodule is used for determining a proportion parameter from the second mapping relation according to the steering wheel torque and the vehicle speed;
the third mapping relation sub-module is used for determining an integral parameter from the third mapping relation according to the steering wheel torque and the vehicle speed;
and the fourth mapping relation sub-module is used for determining differential parameters from the fourth mapping relation according to the steering wheel torque and the vehicle speed.
Optionally, the target positive current return module includes:
the proportional parameter product sub-module is used for multiplying the speed difference value by the number of the proportional parameter to obtain a first product;
the integration parameter product sub-module is used for multiplying the speed difference value and the number of the integration parameter to obtain a second product;
the differential parameter product submodule is used for multiplying the speed difference value and the number of the differential parameter to obtain a third product;
and the target positive return current sub-module is used for adding the first product, the second product and the third product to obtain the target positive return current.
Optionally, when the speed difference is a positive value, the target return positive current is a forward current; when the speed difference value is a negative value, the target return positive current is a reverse current; the return module comprises:
the auxiliary submodule is used for outputting a correcting moment to assist the electric power steering system to correct according to the target positive return current when the target positive return current is positive current;
and the suppression submodule is used for outputting a correction moment to suppress the electric power steering system to be corrected according to the target positive return current when the target positive return current is reverse current.
Correspondingly, the embodiment of the invention discloses an electronic device, which comprises: the system comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the control method embodiment of the active positive feedback electric power steering system when being executed by the processor.
Accordingly, an embodiment of the present invention discloses a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the control method embodiment of the active positive-feedback electric power steering system.
The embodiment of the invention has the following advantages: the method comprises the steps of obtaining the speed, steering wheel angle, steering wheel torque and motor rotating speed of a vehicle through a sensor, determining a target correcting speed according to the speed and the steering wheel angle, determining the actual correcting speed of the vehicle according to the motor rotating speed, determining a speed difference value according to the target correcting speed and the actual correcting speed, determining corresponding parameters of PID parameters according to the steering wheel torque and the speed, determining a target correcting current according to the speed difference value and the corresponding parameters of the PID parameters, and finally outputting a correcting torque to control the electric power steering system to correct according to the target correcting current. According to the embodiment of the invention, the corresponding parameters of the PID parameters are determined through the steering wheel torque and the vehicle speed, and the positive return current attenuation module is designed to reduce the dragging hand feeling, so that the electric power steering system can be controlled, the false identification of the return state is avoided, the stability of the whole electric power steering system is improved, and the method is a better self-adaptive processing method.
Drawings
FIG. 1 is a flow chart of steps of a method for controlling an active-return positive electric power steering system according to an embodiment of the present invention;
FIG. 2 is a first mapping coordinate system diagram provided by an embodiment of the present invention;
FIG. 3 is a second mapping coordinate system diagram provided by an embodiment of the present invention;
FIG. 4 is a third mapping coordinate system diagram provided by an embodiment of the present invention;
FIG. 5 is a fourth mapping coordinate system diagram provided by an embodiment of the present invention;
fig. 6 is a block diagram of a control device of an active-return electric power steering system according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
At present, two main flow positive control strategies exist in the market, namely, one direct steering wheel position corresponds to the positive moment for positive return; and the steering wheel position corresponds to the target return speed, and the vehicle is in an ideal active return state by controlling the size of the target return speed. The smoothness and the residual angle of the active centering strategy side re-centering at the present stage are not properly considered in the active centering module for steering hand feeling.
One of the core concepts of the embodiment of the invention is that a control method of an active positive feedback electric power steering system is provided, and the PID closed loop control is utilized to control the target centering speed, so as to solve the problems that the larger the angle is in the process of rotating the steering wheel, the larger the positive feedback current is, the stronger the hand feeling is pulled and the hand feeling is viscous, and the small angle of the steering wheel is not centered in the driving process.
Referring to fig. 1, a step flow chart of a control method of an active-return positive electric power steering system according to an embodiment of the present invention is shown, where the method specifically includes the following steps:
step 101, obtaining the speed, steering wheel angle, steering wheel torque and motor rotation speed of the vehicle.
The speed, steering wheel angle, steering wheel torque and motor speed of the vehicle are obtained according to a speed sensor, a steering angle sensor, a steering torque sensor and a motor position sensor. In the embodiment of the invention, the electric power steering system is a new system formed by adding power assisting mechanisms such as a motor and the like on the basis of the original mechanical steering system. The purpose is that under different driving conditions, the steering assistance is provided to assist the driver in steering.
And 102, determining a target return speed according to the vehicle speed and the steering wheel angle.
And determining the target return speed which the system needs to reach according to the vehicle speed and the steering wheel angle.
In an embodiment of the present invention, the step of determining the target return speed according to the vehicle speed and the steering wheel angle may include the sub-steps of:
sub-step S1021, obtaining a first mapping relation of the vehicle speed, steering wheel angle and return angular speed;
and step S1022, determining a corresponding target return speed from the first mapping relation according to the vehicle speed and the steering wheel angle.
And obtaining a first mapping relation corresponding to the vehicle speed, the steering wheel angle and the return angular velocity in the electric power steering system, determining the return angular velocity in the first mapping relation according to the vehicle speed and the steering wheel angle, and determining the target return angular velocity according to the return angular velocity, wherein the corresponding relation between the return angular velocity and the vehicle speed and the steering wheel angle is preset in the first mapping relation. In practice, the preset first mapping relationship may be obtained by real vehicle calibration, specifically may be obtained by controlling the vehicle speed and the steering wheel angle, may be a two-dimensional lookup table, referring to fig. 2, the abscissa may be the steering wheel angle, the ordinate may be the return angular velocity, the curve may be the vehicle speed, and the target return angular velocity may be determined according to the return angular velocity according to the current vehicle speed and the current steering wheel angle.
And step 103, determining the actual return speed of the vehicle according to the motor rotation speed.
And calculating the motor rotating speed according to the position sensor of the motor, and determining the actual correcting speed of the vehicle according to the motor rotating speed, wherein the motor rotating speed is used for carrying out internal calculation by a micro control unit (Microcontroller Unit; MCU) to obtain the actual correcting speed, and the actual correcting speed is the current correcting speed.
In an embodiment of the present invention, the step of determining the actual return speed of the vehicle according to the motor rotation speed may include the sub-steps of:
step S1031, obtaining a steering motor reduction ratio and a steering gear line angle transmission ratio of the motor;
substep S1032, determining an actual return speed according to the steering motor reduction ratio and the steering gear line angle transmission ratio.
The method comprises the steps of obtaining a steering motor speed reduction ratio and a steering gear line angle transmission ratio in a motor, and determining the actual correcting speed according to the steering motor speed reduction ratio and the steering gear line angle transmission ratio, wherein the motor speed reduction ratio is equal to a motor input rotating speed divided by a motor output rotating speed, the ratio of the motor input rotating speed to the motor output rotating speed is connected, and the steering gear line angle transmission ratio is equal to the length of 360-degree rack displacement of steering wheel rotation.
And 104, determining a speed difference value according to the target return speed and the actual return speed.
And determining a speed difference according to the obtained target correcting speed and the actual correcting speed, wherein the difference is obtained by subtracting the actual correcting speed from the target correcting speed.
And 105, determining corresponding parameters of the PID parameters according to the steering wheel torque and the vehicle speed.
Corresponding parameters of the PID parameter are determined based on steering wheel torque, which is the force exerted on the steering wheel that causes the steering wheel to rotate, in newtons per meter, and vehicle speed, PID being a common feedback loop component in industrial control applications.
In an embodiment of the present invention, the PID parameter includes a proportional parameter K P Gain, integral parameter K I Gain and differential parameter K D Gain, said step of determining a corresponding parameter of a PID parameter from said steering wheel torque and said vehicle speed may comprise the sub-steps of:
sub-step S1051, obtaining a second mapping relation between steering wheel torque, vehicle speed and proportional parameters, a third mapping relation between steering wheel torque, vehicle speed and integral parameters, and a fourth mapping relation between steering wheel torque, vehicle speed and differential parameters;
sub-step S1052, determining a ratio parameter from the second map according to the steering wheel torque and the vehicle speed;
substep S1053, determining an integral parameter from the third mapping relation according to the steering wheel torque and the vehicle speed;
substep S1054, determining a differential parameter from the fourth map according to the steering wheel torque and the vehicle speed.
The PID parameters include a proportion parameter K P Gain, integral parameter K I Gain and differential parameter K D The basis of Gain and PID is proportional parameter, integral parameter can eliminate steady state error, but overshoot may be increased, differential parameter can accelerate the response speed of large inertial system and weaken overshoot trend.
And obtaining a second mapping relation corresponding to the steering wheel torque, the vehicle speed and the proportional parameter in the electric power steering system, obtaining a third mapping relation corresponding to the steering wheel torque, the vehicle speed and the integral parameter, and obtaining a fourth mapping relation corresponding to the steering wheel torque, the vehicle speed and the differential parameter. Determining a proportion parameter in a second mapping relation according to the steering wheel torque and the vehicle speed, determining an integral parameter in a third mapping relation according to the steering wheel torque and the vehicle speed, and determining a differential parameter in a fourth mapping relation according to the steering wheel torque and the vehicle speed, wherein the corresponding relation between the steering wheel torque and the vehicle speed and the proportion parameter is preset in the second mapping relation, the corresponding relation between the steering wheel torque and the vehicle speed and the integral parameter is preset in the third mapping relation, and the corresponding relation between the steering wheel torque and the vehicle speed and the differential parameter is preset in the fourth mapping relation. The second mapping relationship refers to fig. 3, where the abscissa may be steering wheel rotation torque, the ordinate may be a scale parameter, the curve is vehicle speed, and a value may be corresponding to the current vehicle speed and the current steering wheel torque. The third mapping relationship refers to fig. 4, where the abscissa may be the steering wheel torque, the ordinate may be the integral parameter, the curve is the vehicle speed, and a value may be corresponding to the current vehicle speed and the current steering wheel torque. The fourth mapping relationship refers to fig. 5, where the abscissa may be steering wheel torque, the ordinate may be a differential parameter, the curve is the vehicle speed, and a value may be corresponding to the current vehicle speed and the current steering wheel torque.
And step 106, determining the target positive return current according to the speed difference value and the corresponding parameter of the PID parameter.
According to the difference value of the target correcting speed and the actual correcting speed and the corresponding parameters of the PID parameters, the target correcting current is determined, in practice, the setting of the PID parameters can be obtained through engineering methods and real vehicle calibration, the steering wheel can be accurately corrected through closed-loop control of the rotating speed, and the steering stability and the safety of the whole vehicle are ensured.
In an embodiment of the present invention, the step of determining the target positive return current according to the speed difference and the corresponding parameter of the PID parameter may include the following sub-steps:
sub-step S1061, multiplying said speed difference by a number of said proportional parameter to obtain a first product;
sub-step S1062, multiplying said speed difference by a number of said integration parameter to obtain a second product;
sub-step S1063, multiplying the speed difference by the number of the derivative parameter to obtain a third product;
substep S1064, adding the first product, the second product, and the third product to obtain the target positive return current.
Multiplying the speed difference value and the proportional parameter in the PID parameter to obtain a first product, multiplying the speed difference value and the integral parameter in the PID parameter to obtain a second product, and multiplying the speed difference value and the differential parameter in the PID parameter to obtain a third product. And then adding the first product, the second product and the third product to obtain the target positive return current. According to the characteristics of PID, the above-mentioned proportional and integral parameter parts mainly function to generate a return positive current, i.e., to perform return control of the steering wheel, and the differential parameter part mainly functions to generate damping to prevent return positive overshoot during high-speed running.
And step 107, controlling the electric power steering system to return according to the target return positive current and the output return moment.
And according to the obtained target positive return current, outputting a positive return torque to control the electric power steering system to return, wherein the target positive return current is reduced along with the increase of the torque of the steering wheel, so that no dragging hand feeling is ensured when the steering wheel is rotated, the hand feeling of the steering wheel is smooth, and meanwhile, the good return performance of the steering wheel is ensured when the steering wheel is loosened.
In the embodiment of the invention, when the speed difference is a positive value, the target return positive current is a forward current; when the speed difference value is a negative value, the target return positive current is a reverse current;
the step of controlling the electric power steering system to return according to the target return current, the output return torque may include the substeps of:
sub-step S1071, when the target positive return current is positive current, outputting a correction moment to assist the electric power steering system to correct according to the target positive return current;
substep S1072, when the target positive return current is a reverse current, outputting a correction torque according to the target positive return current to suppress the electric power steering system from being corrected.
When the target return speed is greater than the actual return speed, the speed difference is a positive value, the target return current outputs forward current, and auxiliary return torque is output according to the target return current to assist the electric power steering system to return. When the target return speed is smaller than the actual return speed, the speed difference is a negative value, the target return current outputs reverse current, and the return of the electric power steering system is restrained according to the restrained return moment of the target return current output. In practice, the steering wheel steering control generally includes two aspects: firstly, can make the steering wheel accurately and rapidly get back to the intermediate position at low speed, secondly provides the damping at high speed, avoids steering wheel to return to the positive overshoot, and when the positive electric current of target return outputs the positive electric current, will produce a driver and turn to the same power of direction, assist the driver to operate, reduce steering wheel moment of torsion, when the positive electric current of target return outputs the reverse electric current, will produce a driver and turn to the opposite power of direction, hinder driver's operation, increase steering wheel moment of torsion.
The embodiment of the invention has the following advantages: the method comprises the steps of obtaining the speed, steering wheel angle, steering wheel torque and motor rotating speed of a vehicle through a sensor, determining a target correcting speed according to the speed and the steering wheel angle, determining the actual correcting speed of the vehicle according to the motor rotating speed, determining a speed difference value according to the target correcting speed and the actual correcting speed, determining corresponding parameters of PID parameters according to the steering wheel torque and the speed, determining a target correcting current according to the speed difference value and the corresponding parameters of the PID parameters, and finally outputting a correcting torque to control the electric power steering system to correct according to the target correcting current. According to the embodiment of the invention, the corresponding parameters of the PID parameters are determined through the steering wheel torque and the vehicle speed, and the positive return current attenuation module is designed to reduce the dragging hand feeling, so that the electric power steering system can be controlled, the false identification of the return state is avoided, the stability of the whole electric power steering system is improved, and the method is a better self-adaptive processing method.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 6, a block diagram of a control device of an active-return positive electric power steering system according to an embodiment of the present invention is shown, which may specifically include the following modules:
an acquisition module 201 for acquiring a vehicle speed, a steering wheel angle, a steering wheel torque, and a motor rotation speed of the vehicle;
a target return speed module 202, configured to determine a target return speed according to the vehicle speed and the steering wheel angle;
an actual return speed module 203, configured to determine an actual return speed of the vehicle according to the motor rotation speed;
a calculating speed difference module 204, configured to determine a speed difference according to the target return speed and the actual return speed;
a PID parameter determining module 205, configured to determine a corresponding parameter of a PID parameter according to the steering wheel torque and the vehicle speed;
a target positive return current module 206, configured to determine a target positive return current according to the speed difference and the corresponding parameter of the PID parameter;
and the aligning module 207 is used for outputting aligning moment to control the electric power steering system to align according to the target aligning current.
Optionally, the target return speed module includes:
the first mapping relation submodule is used for acquiring a first mapping relation of the vehicle speed, the steering wheel angle and the return-to-positive angular speed;
and the target return speed sub-module is used for determining the corresponding target return speed from the first mapping relation according to the vehicle speed and the steering wheel angle.
Optionally, the actual return speed module includes:
the motor data acquisition sub-module is used for acquiring the steering motor reduction ratio and the steering gear line angle transmission ratio of the motor;
and the actual return speed sub-module is used for determining the actual return speed according to the reduction ratio of the steering motor and the linear angle transmission ratio of the steering gear.
Optionally, the PID parameters include a proportional parameter KPGain, an integral parameter KIGain, and a derivative parameter KDGain, and the determining PID parameter module includes:
the mapping relation acquisition sub-module is used for acquiring a second mapping relation between steering wheel torque, vehicle speed and proportional parameters, a third mapping relation between steering wheel torque, vehicle speed and integral parameters, and a fourth mapping relation between steering wheel torque, vehicle speed and differential parameters;
the second mapping relation submodule is used for determining a proportion parameter from the second mapping relation according to the steering wheel torque and the vehicle speed;
the third mapping relation sub-module is used for determining an integral parameter from the third mapping relation according to the steering wheel torque and the vehicle speed;
and the fourth mapping relation sub-module is used for determining differential parameters from the fourth mapping relation according to the steering wheel torque and the vehicle speed.
Optionally, the target positive current return module includes:
the proportional parameter product sub-module is used for multiplying the speed difference value by the number of the proportional parameter to obtain a first product;
the integration parameter product sub-module is used for multiplying the speed difference value and the number of the integration parameter to obtain a second product;
the differential parameter product submodule is used for multiplying the speed difference value and the number of the differential parameter to obtain a third product;
and the target positive return current sub-module is used for adding the first product, the second product and the third product to obtain the target positive return current.
Optionally, when the speed difference is a positive value, the target return positive current is a forward current; when the speed difference value is a negative value, the target return positive current is a reverse current; the return module comprises:
the auxiliary submodule is used for outputting a correcting moment to assist the electric power steering system to correct according to the target positive return current when the target positive return current is positive current;
and the suppression submodule is used for outputting a correction moment to suppress the electric power steering system to be corrected according to the target positive return current when the target positive return current is reverse current.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The embodiment of the invention also provides electronic equipment, which comprises:
the control method comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the computer program realizes all the processes of the control method embodiment of the active positive-feedback electric power steering system when being executed by the processor, can achieve the same technical effects, and is not repeated here for avoiding repetition.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, realizes the processes of the control method embodiment of the active positive-feedback electric power steering system, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above description of the control method of the active positive-feedback electric power steering system and the control device of the active positive-feedback electric power steering system provided by the invention applies specific examples to illustrate the principle and the implementation of the invention, and the above examples are only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A method of controlling an active return electric power steering system, the method comprising:
acquiring the speed, steering wheel angle, steering wheel torque and motor rotation speed of a vehicle;
determining a target return speed according to the vehicle speed and the steering wheel angle;
determining the actual correcting speed of the vehicle according to the motor rotating speed;
determining a speed difference according to the target return speed and the actual return speed;
determining corresponding parameters of PID parameters according to the steering wheel torque and the vehicle speed;
determining a target positive return current according to the speed difference value and the corresponding parameter of the PID parameter;
and outputting a correcting moment to control the electric power steering system to correct according to the target correcting current.
2. The method of claim 1, wherein said determining a target return speed based on said vehicle speed and said steering wheel angle comprises:
acquiring a first mapping relation of the vehicle speed, the steering wheel angle and the return-to-positive angular speed;
and determining a corresponding target return speed from the first mapping relation according to the vehicle speed and the steering wheel angle.
3. The method of claim 1, wherein said determining an actual return speed of the vehicle from said motor speed comprises:
acquiring a steering motor reduction ratio and a steering gear line angle transmission ratio of the motor;
and determining the actual return speed according to the reduction ratio of the steering motor and the linear angle transmission ratio of the steering gear.
4. The method according to claim 1, wherein the PID parameters include a scale parameter K P Gain, integral parameter K I Gain and differential parameter K D Gain, the determining the corresponding parameters of the PID parameters according to the steering wheel torque and the vehicle speed includes:
acquiring a second mapping relation between steering wheel torque, vehicle speed and proportional parameters, a third mapping relation between steering wheel torque, vehicle speed and integral parameters, and a fourth mapping relation between steering wheel torque, vehicle speed and differential parameters;
determining a proportion parameter from the second mapping relation according to the steering wheel torque and the vehicle speed;
determining an integral parameter from the third mapping relation according to the steering wheel torque and the vehicle speed;
and determining a differential parameter from the fourth mapping relation according to the steering wheel torque and the vehicle speed.
5. The method of claim 4, wherein said determining a target positive return current based on said speed difference and corresponding parameters of said PID parameters comprises:
multiplying the speed difference value by the number of the proportion parameter to obtain a first product;
multiplying the speed difference value by the number of the integral parameter to obtain a second product;
multiplying the speed difference value by the number of the differential parameter to obtain a third multiplication product;
and adding the first product, the second product and the third product to obtain the target return positive current.
6. The method of claim 1, wherein the target return current is a forward current when the speed differential is positive; when the speed difference value is a negative value, the target return positive current is a reverse current;
and controlling the electric power steering system to return according to the target return positive current by outputting a return torque, comprising the following steps:
when the target positive return current is positive current, outputting and assisting the electric power steering system to return according to the target positive return current;
and when the target positive return current is reverse current, outputting a positive return moment according to the target positive return current to inhibit the electric power steering system from being returned.
7. A control device for an active return electric power steering system, the device comprising:
the acquisition module is used for acquiring the speed, steering wheel angle, steering wheel torque and motor rotation speed of the vehicle;
the target return speed module is used for determining a target return speed according to the vehicle speed and the steering wheel rotation angle;
the actual correcting speed module is used for determining the actual correcting speed of the vehicle according to the motor rotating speed;
the speed difference calculating module is used for determining a speed difference according to the target correcting speed and the actual correcting speed;
the PID parameter determining module is used for determining corresponding parameters of PID parameters according to the steering wheel torque and the vehicle speed;
the target positive return current module is used for determining a target positive return current according to the speed difference value and the corresponding parameter of the PID parameter;
and the aligning module is used for outputting aligning moment to control the electric power steering system to align according to the target aligning current.
8. The apparatus of claim 7, wherein the target return current is a forward current when the speed differential is positive; when the speed difference value is a negative value, the target return positive current is a reverse current; the return module comprises:
the auxiliary submodule is used for outputting a correcting moment to assist the electric power steering system to correct according to the target positive return current when the target positive return current is positive current;
and the suppression submodule is used for outputting a correction moment to suppress the electric power steering system to be corrected according to the target positive return current when the target positive return current is reverse current.
9. An electronic device, comprising: a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor, implements the steps of the method of controlling an active positive-return electric power steering system as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of controlling an active regenerative electric power steering system according to any one of claims 1 to 6.
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| CN202111631977.XA CN116353688A (en) | 2021-12-28 | 2021-12-28 | Control method and device for active positive-feedback electric power steering system |
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| CN202111631977.XA CN116353688A (en) | 2021-12-28 | 2021-12-28 | Control method and device for active positive-feedback electric power steering system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902063A (en) * | 2023-07-17 | 2023-10-20 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902063A (en) * | 2023-07-17 | 2023-10-20 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
| CN116902063B (en) * | 2023-07-17 | 2024-02-06 | 小米汽车科技有限公司 | Steering wheel aligning method and device, vehicle, storage medium and chip |
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