CN203651884U - Control decision system of power assisted motor in electric power steering system - Google Patents

Abstract

The utility model relates to a control decision system of a power assisted motor in an electric power steering system. The control decision system comprises a power assisted motor rotation angle reference module, a deviation value computation module, a rotation angle tracking controller and the power assisted motor, wherein the power assisted motor rotation angle reference module is used for sending an ideal value [theta]<*><as> of a power assisted motor rotation angle to the deviation value computation module; the deviation value computation module is used for computing a deviation value e of the power assisted motor rotation angle according to the ideal value [theta]<*><as> of the power assisted motor rotation angle and a power assisted motor rotation angle actual value [theta]<as> returned by the power assisted motor, and sending the deviation value e to the rotation angle tracking controller; the rotation angle tracking controller is used for adjusting controlled quantity U according to the deviation value e of the rotation angle; and the power assisted motor is used for sending the actual value [theta]<as> of the rotation angle to the deviation value computation module. With the adoption of the control decision system, the adverse effect of system noise and mechanical vibration which cannot be eliminated on steering road sense due to the fact that electro-mechanical parameters of the electric power steering system cannot be selected randomly can be effectively eliminated, so that an optimal steering road sense is obtained.

Description

The control decision system of assist motor in electric boosting steering system

Technical field

The utility model relates to the control decision system of assist motor in electric boosting steering system.

Background technology

At present, in order to improve the moment burden of chaufeur, obtain good steering feel, adopted electric boosting steering system as auxiliary work-saving device.Research discovery both at home and abroad, choosing the impact of steering feel of the dynamo-electric parameter of electric power steering is larger.For obtaining good steering feel, the dynamo-electric parameter such as torque sensor rigidity, assist motor rotor inertia and the transmission device reduction ratio being connected with assist motor based on optimum theory to electric boosting steering system is optimized to be chosen, and has effectively improved the steering feel of steering swivel system.

But owing to being subject to the restriction of process tool given size standardization and seriation, this just causes the dynamo-electric parameter of electric power steering cannot select veritably optimum value, as the transmitting ratio of power-assisted transmission apparatus need to preferentially be selected nominal valve.Therefore, be subject to the restriction of the factors such as Machining Technology, the selection of the dynamo-electric parameter of electric boosting steering system based on optimum theory can only improve the steering feel of steering swivel system, and can not obtain best steering feel.

Utility model content

Technical problem to be solved in the utility model is to provide a kind ofly can eliminate system noise and the harmful effect of mechanical vibration to steering feel, and obtains the control decision system of assist motor in the electric boosting steering system of best steering feel.

The technical scheme that the utility model solves the problems of the technologies described above is as follows: the control decision system of assist motor in electric boosting steering system, comprises assist motor corner referrer module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner referrer module is for receiving assist motor corner accekeration from outside steering wheel angle accekeration

assist motor tarnsition velocity value steering wheel angle velocity amplitude

desirable assist torque value ideal value with steering resisting torque

calculate the ideal value of assist motor corner

and by the ideal value of described assist motor corner be sent to deviate computing module;

Described deviate computing module is according to the ideal value of assist motor corner

the corner actual value θ returning with assist motor _ascalculate assist motor corner deviate e, and described corner deviate e is sent to corner tracking control unit;

Described corner tracking control unit is adjusted controlling quantity U according to assist motor corner deviate e, and controls assist motor according to described controlling quantity U and rotate;

Described assist motor is controlled assist motor corner according to controlling quantity U, and by assist motor corner actual value θ _asbe sent to deviate computing module.

The beneficial effects of the utility model are: the utility model, according to the dynam module of electric boosting steering system and the basic theoretical knowledge of inverse dynamics, provides the decision-making module for the decision-making of electric boosting steering system Power assisted control.And this control decision system can make up effectively because the dynamo-electric parameter of electric boosting steering system can not choose at random, and causes system noise and the harmful effect of mechanical vibration to steering feel that cannot eliminate, thereby obtains best steering feel.

On the basis of technique scheme, the utility model can also do following improvement.

Further, assist motor corner referrer module is calculated according to following formula:

${\mathrm{\&theta;}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor the output of assist motor corner; J _cand B _cthe rotation that is respectively Steering gear is used to and damping coefficient; M _rand B _rrepresent respectively tooth bar quality and tooth bar damping coefficient; R _pfor turning to miniature gears radius;

with be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that is connected with assist motor.

Further, the deviate e of described assist motor corner equals the ideal value of assist motor corner

deduct corner actual value θ _as.

Further, the corner actual value θ of described assist motor _asinitial value be 0.

Further, the corner actual value θ of described assist motor _asadopt sensor or observer to gather and feed back to deviate computing module.

Further, described corner tracking control unit is also controlled assist motor output assist torque T _mas.

Brief description of the drawings

Fig. 1 is assist motor control decision system chart in the electric boosting steering system described in the utility model specific embodiment 1;

Fig. 2 is the control decision method flow diagram of assist motor in the electric boosting steering system described in the utility model specific embodiment 1.

In accompanying drawing, the list of parts of each label representative is as follows:

1, assist motor corner referrer module, 2, deviate computing module, 3, corner tracking control unit, 4, assist motor.

Detailed description of the invention

Below in conjunction with accompanying drawing, principle of the present utility model and feature are described, example, only for explaining the utility model, is not intended to limit scope of the present utility model.

As shown in Figure 1, for assist motor control decision system chart in the electric boosting steering system described in the utility model specific embodiment 1, comprise assist motor corner referrer module 1, deviate computing module 2, corner tracking control unit 3 and assist motor 4;

Described assist motor corner referrer module 1 is for receiving assist motor corner accekeration from outside

steering wheel angle accekeration assist motor tarnsition velocity value

steering wheel angle velocity amplitude

desirable assist torque value

ideal value with steering resisting torque calculate the ideal value of assist motor corner

and by the ideal value of described assist motor corner be sent to deviate computing module 2;

Described deviate computing module 2 is according to the ideal value of assist motor corner the corner actual value θ returning with assist motor 4 _ascalculate the deviate e of assist motor corner, and described corner deviate e is sent to corner tracking control unit 3;

Described corner tracking control unit 3 is adjusted controlling quantity U according to corner deviate e, and controls assist motor 4 according to described controlling quantity U and rotate;

Described assist motor 4 is controlled corner according to controlling quantity U, and by corner actual value θ _asbe sent to deviate computing module 2.

Assist motor corner referrer module 1 is calculated according to following formula:

${\mathrm{\&theta;}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor the output of assist motor corner; J _cand B _cthe rotation that is respectively Steering gear is used to and damping coefficient; M _rand B _rrepresent respectively tooth bar quality and tooth bar damping coefficient; R _pfor turning to miniature gears radius;

with

be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that is connected with assist motor.

Described assist motor corner deviate e equals the ideal value of assist motor corner

deduct assist motor corner actual value θ _as.

The corner actual value θ of described assist motor 4 _asinitial value be 0.

The corner actual value θ of described assist motor 4 _asadopt sensor or observer to gather and feed back to deviate computing module 2.

Described corner tracking control unit 3 is also controlled assist motor 4 and is exported assist torque T _mas.

As shown in Figure 2, the control decision method flow diagram of assist motor in the electric boosting steering system described in the utility model specific embodiment 1, specifically comprises the following steps:

Step 1: assist motor corner referrer module receives assist motor corner accekeration

steering wheel angle accekeration

assist motor tarnsition velocity value

steering wheel angle velocity amplitude

desirable assist torque value

ideal value with steering resisting torque calculate the ideal value of assist motor corner

and by the ideal value of described assist motor corner

be sent to deviate computing module;

Step 2: deviate computing module is according to the ideal value of assist motor corner

the corner actual value θ returning with assist motor _ascalculate assist motor corner deviate e;

Step 3: whether deviate computing module judgment bias value e is 0, if e is 0, finishes; Otherwise, carry out step 4;

Step 4: corner tracking control unit is adjusted controlling quantity U according to corner deviate e, and control assist motor according to described controlling quantity U and rotate;

Step 5: assist motor is controlled the corner of assist motor according to the controlling quantity U of corner tracking control unit decision-making, and by corner actual value θ _asbe sent to deviate computing module, jump to step 2.

The corner actual value θ of described assist motor 4 _asinitial value be 0.

The technology of step 1 is carried out according to following formula:

${\mathrm{\&theta;}}_{\mathrm{as}}^{*}=K_{\mathrm{as}}(-J_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-B_{\mathrm{eq}}^{*}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{as}}-\frac{J_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}-\frac{B_c}{G_{\mathrm{as}}^{*}}{\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_{\mathrm{sw}}+\frac{T_{\mathrm{as}}^{*}}{G_{\mathrm{as}}^{*}}+\frac{T_d}{G_{\mathrm{as}}^{*}}-\frac{T_R^{*}}{G_{\mathrm{as}}^{*}})$ Formula (1)

Wherein $J_{\mathrm{eq}}^{*}=J_{\mathrm{as}}^{*}+\frac{M_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

$B_{\mathrm{eq}}^{*}=B_{\mathrm{as}}^{*}+\frac{B_R{R}_p^2}{{\left(G_{\mathrm{as}}^{*}\right)}^2}$

In above-mentioned formula, K _asfor the stiffness coefficient of assist motor; T _dfor the input of chaufeur hand-wheel torque; θ _swfor steering wheel angle; θ _asfor the output of assist motor corner; J _cand B _cthe rotation that is respectively Steering gear is used to and damping coefficient; M _rand B _rrepresent respectively tooth bar quality and tooth bar damping coefficient; R _pfor turning to miniature gears radius;

with

be respectively the ideal value of ideal value, desirable assist torque and the steering resisting torque of the ideal value of ideal value, the assist motor damping coefficient of assist motor rotor inertia, the transmission device reduction ratio that is connected with assist motor.

In described step 2, assist motor corner deviate e equals the ideal value of assist motor corner

deduct assist motor corner actual value θ _as.

The corner actual value θ of described assist motor 4 _asadopt sensor or observer to gather and feed back to deviate computing module.

Described corner tracking control unit 3 is also controlled assist motor output assist torque T _mas.

The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.

Claims (1)

1. the control decision system of assist motor in electric boosting steering system, is characterized in that, comprises assist motor corner referrer module, deviate computing module, corner tracking control unit and assist motor;

Described assist motor corner referrer module one end is connected with outside, receives assist motor corner accekeration

steering wheel angle accekeration

assist motor tarnsition velocity value steering wheel angle velocity amplitude

desirable assist torque value

ideal value with steering resisting torque

calculate the ideal value of assist motor corner the described assist motor corner referrer module other end is connected with deviate computing module;

Described deviate computing module one end is connected with assist motor with assist motor corner referrer module, and the other end is connected with corner tracking control unit;

Described corner tracking control unit is adjusted controlling quantity U according to corner deviate e, and controls assist motor according to described controlling quantity U and rotate;

Described assist motor is controlled corner according to controlling quantity U, and by corner actual value θ _asbe sent to deviate computing module.

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