CN103192871A - Automobile electric power steering active aligning system - Google Patents
Automobile electric power steering active aligning system Download PDFInfo
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- CN103192871A CN103192871A CN201210022260XA CN201210022260A CN103192871A CN 103192871 A CN103192871 A CN 103192871A CN 201210022260X A CN201210022260X A CN 201210022260XA CN 201210022260 A CN201210022260 A CN 201210022260A CN 103192871 A CN103192871 A CN 103192871A
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- 238000005259 measurement Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract 1
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Abstract
The invention relates to an automobile electric power steering active aligning system, which comprises an aligning judgment module, an aligning torque calculation module and an aligning overshoot estimation module. A steering wheel torque signal measured by a steering wheel torque sensor, an automobile speed signal measured by an automobile speed sensor and a steering wheel corner signal measured by a steering wheel corner sensor are input into an active aligning system of a steering system; whether the steering wheel is in an aligning state or not is judged by a certain algorithm; if the steering wheel is in the aligning state, a proper power torque is calculated through a corresponding algorithm, under the aligning state, whether aligning overshoot occurs in the steering wheel or not is judged; and proper adjustment is provided, so that the aim of stable alignment is fulfilled. A power-assisted steering system can accurately judge the aligning moment and can improve the steering aligning performance on the premise of not influencing the operating hand feeling of the automobile.
Description
Technical field
The present invention relates to a kind of automobile electric power-assisted steering control system, be particularly useful for a kind of initiatively electric power steering control system of return function that has
Background technology
The principle of work of electronic control type electric boosting steering system (Electric Power System is called for short EPS) is the power-assisted size and Orientation that the ECU of EPS exports with certain algorithm control motor according to torque sensor, car speed sensor signal and steering wheel angle signal.Pass on transmission devices such as steering shaft and reach the power-assisted purpose through speed reduction gearing.Improved the portability of wheel steering system.
The returnability of orthodox car obtains by the four-wheel location, and return performance is fine when Vehicle Speed is high, still, when at low speed driving, because the Hui Zhengli that the four-wheel location obtains is very little, is far smaller than whole steering swivel system friction drag.Cause steering handwheel can not get back to midway location, thereby reduced the driving safety of vehicle.Along with the further raising of people to vehicle operating alerting ability, security requirement, only depend on the four-wheel status can not satisfy the operating handle requirement that returnability is become reconciled.
Summary of the invention
The objective of the invention is to improve the automobile electric power-assisted steering control system, a kind of initiatively control system of return function that has is provided, especially guarantee driving safety, do not influencing under the prerequisite of operating handle, improving automobile electric power-assisted steering at the return performance of low speed driving.
Technical solution of the present invention is: a kind of automobile electric power-assisted steering initiatively returns positive system, and it initiatively returns positive system and comprises back positive judge module, returns positive moment of torsion computing module and return positive overshoot estimation block.By the steering wheel moment signal of steering wheel moment sensor measurement, the vehicle speed signal that car speed sensor is measured, the steering wheel angle signal of steering wheel angle sensor measurement are input to the positive judge module that returns that initiatively returns positive system, judge by certain algorithm whether steering handwheel is in back positive status.If be in back positive status, return positive moment of torsion computing module and determine the size of friciton compensation moment of torsion according to steering torque, pass through the size and Orientation that corresponding algorithm calculates back positive moment of torsion according to vehicle speed signal, steering wheel angle signal and torque signal again.Judge whether to reduce or stop initiatively to return positive power-assisted according to the vehicle speed signal of car speed sensor and the velocity variations size of steering wheel angle, whether improve damping control.Be issued to and steadily return positive purpose not influencing the steering handwheel operating handle.
Description of drawings
Fig. 1 initiatively returns the positive system structured flowchart.
Fig. 2 is back positive judge module diagram of circuit.
Fig. 3 is back positive moment of torsion computing module diagram of circuit.
Fig. 4 is back positive overshoot estimation block diagram of circuit.
Fig. 5 initiatively returns the positive system general flow chart.
As shown in Figure 1, for initiatively returning the positive system structured flowchart, this system comprises back positive judge module, returns positive moment of torsion computing module and returns positive overshoot estimation block.Judge according to vehicle speed signal, steering wheel moment signal and steering handwheel angle signal whether vehicle is in back positive status, if be in back positive status, then provide back positive booster torquemoment by returning positive moment of torsion computing module by certain algorithm.When steering handwheel will be got back to midway location, can get back to midway location or over control takes place by returning positive overshoot estimation block estimation steering handwheel, if take place, then provide certain damping control.
As shown in Figure 2, for returning positive judge module diagram of circuit.By judging whether Vehicle Speed satisfies situation A, and whether angular signal satisfies situation B, and whether torque signal satisfies situation C.Thereby determine that the Vehicular turn dish is in back positive status.Wherein situation A refers to: Vehicle Speed satisfies at 0km/h～35km/h.Situation B refers to: the corner absolute value is greater than 20 °, and angular signal reduces gradually.Situation C refers to: steering wheel moment is greater than 2NS, and moment of torsion reduces gradually.
As shown in Figure 3, for returning positive moment of torsion computing module diagram of circuit.According to shown in Figure 2, judged that the Vehicular turn dish is in back positive status, then according to vehicle speed signal, steering wheel moment signal and steering handwheel angle calculated signals system friction compensating moment with total initiatively return positive booster torquemoment.
As shown in Figure 4, for returning positive overshoot estimation block diagram of circuit.When the Vehicular turn dish is in back positive status, when car speed satisfies situation D, when Vehicular turn dish angular signal satisfies situation E, when booster torquemoment satisfies situation F.The control motor stops or reducing back positive power-assisted or damping control is provided.Wherein situation D refers to: when car speed at 0km/h～35km/h.Situation E refers to: the steering wheel angle absolute value is less than 20 °.Situation F refers to: the booster torquemoment that assist motor provides is greater than 10NS.
As shown in Figure 5, for initiatively returning the positive system general flow chart.Judge that at first whether the speed of a motor vehicle is at 0km/h～35km/h.If do not exist, then withdraw from.If, judge then whether vehicle is in back under the positive status, if then do not withdrawing from, if, then by speed of a motor vehicle size, steering wheel angle size and rate of change, steering wheel moment size and rate of change calculate the friciton compensation moment of torsion of steering swivel system and total time positive booster torquemoment, and the control assist motor is realized initiatively just returning, again according to the motor booster torquemoment, steering wheel angle changes, just whether the speed of a motor vehicle changes, to judge back overshoot to occur, does not provide back positive power-assisted if do not occur then continuing judging, if occur then reducing or stopping back positive booster torquemoment, damping control be provided.
Claims (9)
1. an automobile electric power-assisted steering that makes vehicle have the active return function according to steering wheel moment signal, steering wheel angle signal, vehicle speed signal initiatively returns positive system.It is characterized in that, initiatively return positive system and judge according to steering wheel moment size and the direction of steering wheel moment, the corner size and Orientation of steering wheel angle sensor measurement, the vehicle speed signal that car speed sensor is measured of torque sensor measurement whether vehicle is in back positive status, initiatively return positive system and determine the friciton compensation torque according to steering torque, initiatively return the positive system time positive torque total according to size and Orientation, vehicle speed signal and the friciton compensation torque arithmetic of steering torque size and Orientation, steering wheel angle.Initiatively return positive system and judge whether to provide damping control according to booster torquemoment size, speed of a motor vehicle size and steering wheel angle size.
2. automobile electric power-assisted steering according to claim 1 initiatively returns positive system, it is characterized in that having back positive judge module, returns positive moment of torsion computing module, returns positive overshoot estimation block composition.
3. automobile electric power-assisted steering according to claim 2 initiatively returns positive system, it is characterized in that back that positive judge module judges according to vehicle speed signal, steering wheel moment signal and steering wheel angle signal whether steering handwheel is in back positive status.
4. automobile electric power-assisted steering according to claim 3 initiatively returns positive system, it is characterized in that when steering wheel rotation, and the speed of a motor vehicle judges just that at 0km/h～35km/h vehicle is in back positive status.
5. automobile electric power-assisted steering according to claim 3 initiatively returns positive system, it is characterized in that when steering wheel rotation the steering wheel angle absolute value is greater than 20 °, the steering wheel angle size reduces gradually, steering wheel moment reduces gradually, judges that just vehicle is in back positive status.
6. automobile electric power-assisted steering according to claim 2 initiatively returns positive system, it is characterized in that back that positive moment of torsion computing module is according to vehicle speed signal, steering wheel moment signal and steering wheel angle signal judgement steering swivel system friciton compensation torque.Initiatively return positive moment of torsion size and Orientation according to vehicle speed signal, steering wheel angle signal, steering wheel moment signal and the calculating of friciton compensation torque.
7. automobile electric power-assisted steering according to claim 6 initiatively returns positive system, it is characterized in that calculating the size and Orientation that initiatively returns positive moment of torsion according to the speed of a motor vehicle at 0km/h～5km/h or two stages of 5km/h～35km/h.
8. automobile electric power-assisted steering according to claim 2 initiatively returns positive system, it is characterized in that back that positive overshoot estimation block is according to vehicle speed signal, steering wheel angle signal and assist motor booster torquemoment size, judge whether the Vehicular turn dish over control can occur, thereby judge whether to reduce or stop to provide and initiatively return positive power-assisted, whether provide damping to control.
9. automobile electric power-assisted steering according to claim 8 initiatively returns positive system, it is characterized in that working as the speed of a motor vehicle respectively in 0km/h～5km/h or two stages of 5km/h～35km/h, according to the rate of change of steering wheel angle from steering handwheel intermediate angle size and steering wheel angle, assist motor provides the size of booster torquemoment to determine to reduce or stop to provide and initiatively return positive power-assisted or provide damping to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022260XA CN103192871A (en) | 2012-01-09 | 2012-01-09 | Automobile electric power steering active aligning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210022260XA CN103192871A (en) | 2012-01-09 | 2012-01-09 | Automobile electric power steering active aligning system |
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| CN103192871A true CN103192871A (en) | 2013-07-10 |
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| CN201210022260XA Pending CN103192871A (en) | 2012-01-09 | 2012-01-09 | Automobile electric power steering active aligning system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590362A (en) * | 2014-12-01 | 2015-05-06 | 中国第一汽车股份有限公司 | Electric power steering system control device and controller based on AC asynchronous motor |
| CN106275059A (en) * | 2016-08-25 | 2017-01-04 | 豫北转向系统股份有限公司 | A kind of damping controller of automobile electric booster steering system |
| CN108860294A (en) * | 2018-06-19 | 2018-11-23 | 中国第汽车股份有限公司 | A kind of electric boosting steering system active rotary transform tensor method and its system |
| CN111348100A (en) * | 2018-12-21 | 2020-06-30 | 北京宝沃汽车有限公司 | Vehicle alignment control method and device and vehicle |
| CN111942469A (en) * | 2020-08-20 | 2020-11-17 | 江苏徐工工程机械研究院有限公司 | Steering system of engineering vehicle and loader-digger |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
-
2012
- 2012-01-09 CN CN201210022260XA patent/CN103192871A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1891552A (en) * | 2006-05-30 | 2007-01-10 | 上海燃料电池汽车动力系统有限公司 | Electric booster steering system with active turn-right and damp control |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104590362A (en) * | 2014-12-01 | 2015-05-06 | 中国第一汽车股份有限公司 | Electric power steering system control device and controller based on AC asynchronous motor |
| CN106275059A (en) * | 2016-08-25 | 2017-01-04 | 豫北转向系统股份有限公司 | A kind of damping controller of automobile electric booster steering system |
| CN108860294A (en) * | 2018-06-19 | 2018-11-23 | 中国第汽车股份有限公司 | A kind of electric boosting steering system active rotary transform tensor method and its system |
| CN108860294B (en) * | 2018-06-19 | 2021-04-06 | 中国第一汽车股份有限公司 | Active aligning control method and system for electric power steering system |
| CN111348100A (en) * | 2018-12-21 | 2020-06-30 | 北京宝沃汽车有限公司 | Vehicle alignment control method and device and vehicle |
| CN111942469A (en) * | 2020-08-20 | 2020-11-17 | 江苏徐工工程机械研究院有限公司 | Steering system of engineering vehicle and loader-digger |
| US11691669B2 (en) | 2020-08-20 | 2023-07-04 | Jiangsu Xcmg Construction Machinery Research Institute Ltd. | Steering system of engineering vehicle and backhoe loader |
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Application publication date: 20130710 |