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CN106741132A - The controller and its control method of a kind of multi-mode active front steering system - Google Patents

The controller and its control method of a kind of multi-mode active front steering system Download PDF

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Publication number
CN106741132A
CN106741132A CN201611021280.XA CN201611021280A CN106741132A CN 106741132 A CN106741132 A CN 106741132A CN 201611021280 A CN201611021280 A CN 201611021280A CN 106741132 A CN106741132 A CN 106741132A
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China
Prior art keywords
steering
output
energy consumption
control unit
power
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CN201611021280.XA
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CN106741132B (en
Inventor
栾众楷
赵万忠
王春燕
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • 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
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

本发明公开了一种多模式主动转向系统的控制器及其控制方法，以系统能耗函数为控制目标，对系统多个助力执行机构进行协调控制；其中，系统能耗函数包括电机能耗、液压机构能耗、控制器能耗及机械转向机构能耗；传感器模块采集转向系统各部分信号并传递至能量分析模块，通过能量分析模块求解系统能耗函数，并将计算结果传递至电子控制单元，电子控制单元以系统能耗函数为控制目标、系统理想助力特性为约束条件，对系统多个助力执行机构进行协调控制，实现在保证约束条件输出助力满足理想助力曲线下的转向经济性。

The invention discloses a controller of a multi-mode active steering system and a control method thereof. Taking the system energy consumption function as the control target, a plurality of power assist actuators of the system are coordinated and controlled; wherein, the system energy consumption function includes motor energy consumption, Energy consumption of the hydraulic mechanism, controller and mechanical steering mechanism; the sensor module collects the signals of each part of the steering system and transmits them to the energy analysis module, and solves the system energy consumption function through the energy analysis module, and transmits the calculation results to the electronic control unit , the electronic control unit takes the system energy consumption function as the control target and the ideal power assist characteristics of the system as the constraint conditions, and coordinates and controls multiple power assist actuators in the system to realize the steering economy under the condition that the constraint condition output power meets the ideal power assist curve.

Description

The controller and its control method of a kind of multi-mode active front steering system
Technical field
The present invention relates to automobile assisted power steering system control technology field, refer specifically to for a kind of multi-mode active front steering system Energy consumption-assist controller and its control method.
Background technology
Energy-saving and environmental protection and safety are three big themes of world today's automotive technology development, increasingly tight with energy crisis High, vehicle fuel consumes the increasingly severe of regulation, and all assemblies, parts on automobile all should be towards the directions of energy-conserving and environment-protective Development.The energy ezpenditure of automobile occupies sizable proportion in national economy, and it also generates useless while consumed energy Gas, pollutes environment, while global warming can be caused, therefore countries in the world government also quite weighs to the energy ezpenditure of automobile now Depending on.
Electric boosting steering system EPS compared with traditional hydraulic power steering, with a series of advantage：Energy-saving ring Protect, it is good to the adaptability of cold climate, enhance steering trackability, improve back positive characteristic, improve control stability, be easy to Adjustment assist characteristic, readily packaged and assembling, easy to maintain and maintenance, according to the research of KOYO companies, car dress EPS 3~5% can be reduced than dress hydraulic power steering system fuel consumption, but by the automobile electrical characteristic shadow such as battery tension in itself Ring, the maximum power-assisted square of its output is smaller, is unsatisfactory for the demand of the vehicles such as motorbus.The hydraulic booster that existing automobile is used turns Larger power-assisted can be provided under automobile speed operation to system, mitigates burden when driver turns to；But turned under high-speed working condition Road feel is poor, and control stability has problem.
At present, domestic and international steering generally uses fixed drive ratio, and steering wheel is heavy under easily there is low speed, lower turn at a high speed To excessively waiting dangerous working condition, the strong influence control stability of automobile.Ideally, steering is in automobile low speed row There should be larger gearratio when sailing, to realize mitigating driver's burden, reach good ease of steering；Should have in high speed compared with Small gearratio, ensures driving safety, obtains good steering response.
Therefore, the relation between energy consumption based on steering and output power-assisted, design a kind of " energy consumption-power-assisted " control Device, can realize Vehicular turn portability and turns to being perfectly combined for economy when multi-mode steering system is in composite mode, Have broad application prospects.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, it is an object of the invention to provide a kind of multi-mode active front steering system Controller and its control method, it is poor to solve hydraulic power-assist steering system steering economy, control stability in the prior art The problems such as.
To reach above-mentioned purpose, a kind of controller of multi-mode active front steering system of the invention, including：Energy spectrometer mould Block, sensor assembly, electronic control unit, active steering controlling organization, active steering executing agency, electronic-controlled power steering control machine Structure, electronic-controlled power steering executing agency, mechanical steering gear；
Described sensor assembly gathers electronic control unit, active steering controlling organization, electronic-controlled power steering control machine respectively Structure, electronic-controlled power steering executing agency, the consumption information of mechanical steering gear, and transmit signal to energy spectrometer module and be analyzed meter Calculate, then output signal to electronic control unit；Electronic control unit is according to input signal respectively to above-mentioned corresponding control machine Structure exports Serve Motor Control signal b, c, d, and direct torque is carried out to servomotor A, B, C, corresponding by Serve Motor Control Executing agency according to control strategy output torque；
Described active steering controlling organization includes：Servomotor C；Active steering executing agency includes：Electric pushrod, One reducing gear and planetary gearsets；Described servomotor C receives the Serve Motor Control of above-mentioned electronic control unit output Signal b, and output torque sequentially passes through electric pushrod, the first reducing gear, the lower ring gear of planetary gearsets, to mechanical steering machine Structure；
Described electronic-controlled power steering controlling organization includes：Servomotor A and servo motor B；Described electronic-controlled power steering performs machine Structure includes：Hydraulic pump, oil storage tank, rotary valve, servohydraulic cylinder, the second reducing gear and power-assisted coupler；Described servomotor A Serve Motor Control the signal c and d of above-mentioned electronic control unit output are received respectively with servo motor B, according to corresponding control plan Slightly, servomotor A output torques are adjusted by control signal c, by the second reducing gear output to power-assisted coupler；By control Signal d processed adjusts servo motor B output torque, drives hydraulic pressure pump operation, the high pressure power-assisted fluid of generation sequentially pass through oil storage tank, Rotary valve, servohydraulic cylinder form pressure difference so as to produce power-assisted and export to power-assisted coupler, and coupled power-assisted is exported to machinery Steering mechanism；
Described mechanical steering gear includes：Steering wheel, steering column, steering gear and pitman arm, by steering wheel to machine Tool steering mechanism input torque, diverted post, steering gear, pitman arm are exported to wheel torque successively, realize steering operation.
Preferably, after the motor speed signal of above-mentioned sensor assembly collection is calculated through energy spectrometer module, will solve Result is delivered to electronic control unit；And the speed that will collect of sensor assembly, steering wheel angle signal are directly output to electricity Sub-control unit.
A kind of control method of multi-mode active front steering system of the invention, comprises the following steps：
(1) the input and output energy stream to multi-mode active front steering system is analyzed, and system capacity stream is equivalent into electricity The function of stream, system input energy includes that driver is input into Pin1(I), electric energy input Pin2(I)；Output energy includes controller energy Consumption Pout1(I), energy consumption of electrical machinery Pout2, hydraulic module energy consumption Pout3And system output power Pout4, obtain system total energy consumption function Pw(I), computing formula is as follows：
In formula, RAIt is armature resistance；IAIt is armature supply；UsIt is controller both end voltage；RelecIt is controller resistance；Mci The torque loss caused to be rubbed in motor；CFrFor speed compares coefficient of friction；ωiIt is motor speed；CFr2It is that speed is than a square friction Number；CiIt is motor unknown losses；PsIt is the output pressure of boost pump；Q is power-assisted pumpage；QsIt is power-assisted POF；ρ is Power-assisted fluid density；CqIt is discharge coefficient；AiIt is i-th orifice size of valve port；ApIt is servohydraulic cylinder cross-sectional area；xrFor Steering nut displacement；
System total energy consumption function Pw(I) computational methods are：
Pw(I)=K1Pout1+K2Pout2+K3Pout3+K4Pout4
In formula：K1、K2、K3、K4It is coefficient of energy dissipation；
(2) based on H∞Control theory designs controller and constitutes closed-loop system with original system, and closed-loop system is solved, and obtains To the total energy consumption function P of system outputw(I) minimum value, and calculate as system total energy consumption function Pw(I) when obtaining minimum value, electronics The control electric current I of output needed for control unitminSize；
The control electric current IminNumerical value must meet restrictive condition：Electronic-controlled power steering module TdTracking assisting echo signal Td * And active steering module TzTracking corner echo signal Tz *, i.e.,：
Beneficial effects of the present invention：
1st, comprehensive energy consumption of electrical machinery, hydraulic mechanism energy consumption, controller energy consumption, mechanical steering gear energy consumption, propose system energy consumption Function is simultaneously solved by energy spectrometer module, and electronic control unit ECU is with system energy consumption function as control targe, system reason Assist characteristic is thought for constraints, control is coordinated to system multiple power-assisted actuation mechanism, realize the work(of multi-mode steering Energy；
2nd, variable ratio control is carried out to steering by steering motor, planetary gearsets, is helped so as to be combined in electric-liquid The function of active steering is realized on the basis that power is turned to, by active steering intervention by the economy of automobile assisted power steering and spirit Activity is combined；Steering wheel torque control precision is improve, the control stability of vehicle drive is improve, realizes that motor turning is light Just property and steering response are perfectly combined.
Brief description of the drawings
Fig. 1 illustrates multi-mode active front steering system mechanical construction drawing.
Fig. 2 illustrates the structural principle block diagram of controller of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing It is bright, the content that implementation method is referred to not limitation of the invention.
Shown in reference picture 1, Fig. 2, a kind of multi-mode active front steering system, including：Steering wheel 1, sensor assembly 2, steering Post 3, planetary gearsets 4, steering gear 7, electronic control unit (ECU) 12, pitman arm 17, servomotor C14, electric pushrod 19th, the first reducing gear 13, servomotor A6, the second reducing gear 5, servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8th, servohydraulic cylinder 15 and power-assisted coupler 16；
Described steering wheel 1 connects the moment input end of steering column 3, and sensor assembly 2 is placed in steering wheel 1 and steering column 3 Between, and be connected with electronic control unit (ECU) 12, torque output end and the input of planetary gearsets 4 of steering column 3 connect Connect, corner correcting module provides amendment torque by the lower ring gear in planetary gearsets 4 to steering, and steering moment is through planet The output end of gear train 4, steering gear 7, output to pitman arm 17, power steering module provide steering and help to ball-and-nut steering gear 7 Torque.Electronic control unit (ECU) 12 is by Serve Motor Control signal b to servomotor C14 and the first reducing gear 13, electricity Dynamic push rod 19 is controlled, power-assisted square slow down through the first reducing gear 13 increase square after pass to electric pushrod 19, to planetary gear The lower ring gear of group 4, realizes variable ratio corner Correction and Control；Servomotor A6, the second reducing gear 5 constitutes electric boosted mould Block, electronic control unit (ECU) 12 is controlled by Serve Motor Control signal c to servomotor A6, and power-assisted square is through second The deceleration of reducing gear 5 passes to power-assisted coupler 16 after increasing square；Servo motor B 10, hydraulic pump 9, oil storage tank 11, rotary valve 8, hydraulic pressure Servo-cylinder 15 constitutes hydraulic booster module, and electronic control unit (ECU) 12 is by Serve Motor Control signal d to power-assisted servo electricity Machine B10 is controlled, and drives hydraulic pump 9 that power-assisted fluid is pumped into servohydraulic cylinder 15 through rotary valve 8 from oil storage tank 11, is helped in hydraulic pressure The two ends of power cylinder 15 form pressure difference, so as to produce power-assisted, power-assisted square passes to power-assisted coupler 16, and power-assisted coupler 16 is by resultant moment It is transferred to pitman arm 17.
Shown in reference picture 2, a kind of controller of multi-mode active front steering system of the invention is applied in the present embodiment In above-mentioned multi-mode active front steering system, including：Energy spectrometer module 18, sensor assembly 2, electronic control unit (ECU) 12, Active steering controlling organization, active steering executing agency, electronic-controlled power steering controlling organization, electronic-controlled power steering executing agency, mechanical steering Mechanism；
Described sensor assembly gathers electronic control unit 12, active steering controlling organization, active steering and performs respectively Mechanism, electronic-controlled power steering controlling organization, electronic-controlled power steering executing agency, the consumption information of mechanical steering gear, and transmit signal to energy Amount analysis module 18 is analyzed calculating, then outputs signal to electronic control unit 12；Electronic control unit 12 is according to input Signal to above-mentioned corresponding controlling organization output Serve Motor Control signal b, c, controls corresponding executing agency according to control respectively The tactful output torque of system；
Described active steering controlling organization includes：Servomotor C14；The active steering executing agency includes：It is electronic The reducing gear 13 of push rod 19 and first and planetary gearsets 4；It is defeated that described servomotor C14 receives above-mentioned electronic control unit 12 The Serve Motor Control signal b for going out, and output torque sequentially passes through electric pushrod 19, the first reducing gear 13, planetary gearsets 4 Lower ring gear, to mechanical steering gear；
Described electronic-controlled power steering controlling organization includes：Servomotor A6 and servo motor B 10；Described electronic-controlled power steering is performed Mechanism includes：Hydraulic pump 9, oil storage tank 11, rotary valve 8, servohydraulic cylinder 15, the second reducing gear 5 and power-assisted coupler 16；It is described Servomotor A6 and servo motor B 10 receive respectively the Serve Motor Control signal c of the output of above-mentioned electronic control unit 12 with D, according to corresponding control strategy, servomotor A6 output torques is adjusted by control signal c, is exported by the second reducing gear 5 To power-assisted coupler 16；The output torque of servo motor B 10 is adjusted by control signal d, drives hydraulic pump 9 to run, the height of generation Pressure power-assisted fluid sequentially passes through oil storage tank 11, rotary valve 8, servohydraulic cylinder 15 and forms pressure difference so as to produce power-assisted and export to power-assisted Coupler 16, coupled power-assisted is exported to mechanical steering gear；
Described mechanical steering gear includes：Steering wheel 1, steering column 3, steering gear 7, pitman arm 17, by steering wheel 1 To mechanical steering gear input torque, diverted post 3, steering gear 7 are exported to pitman arm 17 torque successively, realize turning to behaviour Make.
In embodiment, the collection of sensor assembly 2 speed, steering-wheel torque, the vehicle such as motor speed are in the process of moving Live signal, to collection signal be filtered, noise reduction process, (sensor measured amount a part based on energy consumption analysis module 18 Energy consumption is calculated, electronic control unit 12 is passed to after calculating；Another part is directly transmitted to electronic control unit 12 and calculates power-assisted, then Electronic control unit 12 is according to " energy consumption and power-assisted " downward one-level mechanism output control signal)；
Measured value needed for motor speed signal etc. is calculated energy consumption function by sensor assembly 2 is delivered to energy spectrometer module 18, energy spectrometer module 18 is analyzed to collection result, and energy consumption of electrical machinery, controller energy consumption, hydraulic module energy consumption are calculated respectively And system output power, by the energy consumption signal transmission of each several part to electronic control unit 12；
Energy consumption of electrical machinery, controller energy consumption, fluid die that electronic control unit 12 is calculated according to energy spectrometer module 18 The part such as block energy consumption, system output power energy consumption signal of change total energy consumption function, and take minimum value conduct according to total energy consumption function The control targe of controller, to active steering controlling organization, electronic-controlled power steering controlling organization output control electric current, drives corresponding execution Mechanism is run with most economical rotating speed ratio, so that the energy consumption size of whole system each several part mechanism in the course of the work is reduced, Realize the purpose of energy-conservation.
Meanwhile, electronic control unit 12 obtains electronic-controlled power steering executing agency and exports according to the information that sensor assembly 2 is gathered Actual power-assisted size, and active steering executing agency output actual assistant corner size, solved as controller Constraints in journey, prevents the control action to energy consumption due to controller, causes system actuator to export power-assisted, auxiliary and turns Angle influences the control stability of vehicle much smaller than power-assisted, the ideal value of assistant corner under the operating mode.
A kind of control method of multi-mode active front steering system of the invention, comprises the following steps：
(1) the input and output energy stream to multi-mode active front steering system is analyzed, and system capacity stream is equivalent into electricity The function of stream, system input energy includes that driver is input into Pin1(I), electric energy input Pin2(I)；Output energy includes controller energy Consumption Pout1(I), energy consumption of electrical machinery Pout2, hydraulic module energy consumption Pout3And system output power Pout4, obtain system total energy consumption function Pw(I), computing formula is as follows：
In formula, RAIt is armature resistance；IAIt is armature supply；UsIt is controller both end voltage；RelecIt is controller resistance；Mci The torque loss caused to be rubbed in motor；CFrFor speed compares coefficient of friction；ωiIt is motor speed；CFr2It is that speed is than a square friction Number；CiIt is motor unknown losses；PsIt is the output pressure of boost pump；Q is power-assisted pumpage；QsIt is power-assisted POF；ρ is Power-assisted fluid density；CqIt is discharge coefficient；AiIt is i-th orifice size of valve port；ApIt is servohydraulic cylinder cross-sectional area；xrFor Steering nut displacement；
System total energy consumption function Pw(I) computational methods are：
Pw(I)=K1Pout1+K2Pout2+K3Pout3+K4Pout4
In formula：K1、K2、K3、K4It is coefficient of energy dissipation；
(2) based on H∞Control theory designs controller and constitutes closed-loop system with original system, and closed-loop system is solved, and obtains To the total energy consumption function P of system outputw(I) minimum value, and calculate as system total energy consumption function Pw(I) when obtaining minimum value, electronics The control electric current I of output needed for control unitminSize；
The control electric current IminNumerical value must meet restrictive condition：Electronic-controlled power steering module TdTracking assisting echo signal Td * And active steering module TzTracking turns to echo signal Tz *, i.e.,：
By the present invention, it is public that vehicle obtains system components energy consumption calculation according to quantity of states such as speeds in the process of moving Formula, is derived by system energy consumption function, and with system energy consumption function as control targe, system multiple power-assisted actuation mechanism is carried out Coordinate control, effectively increase control stability and driving safety of the vehicle in high speed, and with existing hydraulic booster system System is compared, energy loss when reducing vehicle high-speed and during non-steering situation, therefore with wide market prospects.
Concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, it is noted that for For those skilled in the art, under the premise without departing from the principles of the invention, some improvement can also be made, this A little improvement also should be regarded as protection scope of the present invention.

Claims (3)

1.一种多模式主动转向系统的控制器，其特征在于，包括：能量分析模块、传感器模块、电子控制单元、主动转向控制机构、主动转向执行机构、动力转向控制机构、动力转向执行机构、机械转向机构；1. A controller for a multi-mode active steering system, comprising: an energy analysis module, a sensor module, an electronic control unit, an active steering control mechanism, an active steering actuator, a power steering control mechanism, a power steering actuator, Mechanical steering mechanism; 所述的传感器模块分别采集电子控制单元、主动转向控制机构、动力转向控制机构、动力转向执行机构、机械转向机构的能耗信息，并传递信号至能量分析模块进行分析计算，然后输出信号至电子控制单元；电子控制单元依据输入信号分别向上述相应的控制机构输出伺服电机控制信号b、c、d，对伺服电机A、B、C进行转矩控制，通过伺服电机控制相应的执行机构依据控制策略输出转矩；The sensor module respectively collects the energy consumption information of the electronic control unit, the active steering control mechanism, the power steering control mechanism, the power steering actuator, and the mechanical steering mechanism, and transmits the signal to the energy analysis module for analysis and calculation, and then outputs the signal to the electronic Control unit; the electronic control unit outputs servo motor control signals b, c, and d to the above-mentioned corresponding control mechanism respectively according to the input signal, and performs torque control on the servo motors A, B, and C, and controls the corresponding actuator through the servo motor. Strategy output torque; 所述的主动转向控制机构包括：伺服电机C；主动转向执行机构包括：电动推杆、第一减速机构及行星齿轮组；所述的伺服电机C接收上述电子控制单元输出的伺服电机控制信号b，并输出转矩依次经过电动推杆、第一减速机构、行星齿轮组的下齿圈，至机械转向机构；The active steering control mechanism includes: a servo motor C; the active steering actuator includes: an electric push rod, a first reduction mechanism and a planetary gear set; the servo motor C receives the servo motor control signal b output by the electronic control unit , and the output torque passes through the electric push rod, the first reduction mechanism, the lower ring gear of the planetary gear set, and then reaches the mechanical steering mechanism; 所述的动力转向控制机构包括：伺服电机A及伺服电机B；所述的动力转向执行机构包括：液压泵、储油罐、转阀、液压助力缸、第二减速机构及助力耦合器；所述的伺服电机A与伺服电机B分别接收上述电子控制单元输出的伺服电机控制信号c与d，依照相应控制策略，通过控制信号c调节伺服电机A输出转矩，经过第二减速机构输出到助力耦合器；通过控制信号d调节伺服电机B输出转矩，驱动液压泵运行，产生的高压助力油液依次经过储油罐、转阀、液压助力缸形成压差从而产生助力并输出至助力耦合器，经耦合的助力输出至机械转向机构；The power steering control mechanism includes: servo motor A and servo motor B; the power steering actuator includes: hydraulic pump, oil storage tank, rotary valve, hydraulic booster cylinder, second reduction mechanism and booster coupler; The servo motor A and servo motor B described above respectively receive the servo motor control signals c and d output by the above-mentioned electronic control unit, and adjust the output torque of the servo motor A through the control signal c according to the corresponding control strategy, and output it to the power booster through the second reduction mechanism. Coupler; through the control signal d, the output torque of servo motor B is adjusted to drive the hydraulic pump to run, and the high-pressure boost oil generated passes through the oil storage tank, rotary valve, and hydraulic booster cylinder in sequence to form a pressure difference to generate boost and output it to the booster coupler , the coupled power output is output to the mechanical steering mechanism; 所述的机械转向机构包括：转向盘、转向柱、转向器及转向摇臂，通过转向盘向机械转向机构输入力矩，力矩依次经转向柱、转向器、转向摇臂输出至车轮，实现转向操作。The mechanical steering mechanism includes: a steering wheel, a steering column, a steering gear and a steering rocker arm. The torque is input to the mechanical steering mechanism through the steering wheel, and the torque is sequentially output to the wheels through the steering column, steering gear, and steering rocker arm to realize the steering operation. . 2.根据权利要求1所述的多模式主动转向系统的控制器，其特征在于，上述的传感器模块采集的电机转速信号经能量分析模块计算后，将求解结果传递到电子控制单元；且传感器模块将采集到的车速、转向盘转角信号直接输出到电子控制单元。2. The controller of the multi-mode active steering system according to claim 1, characterized in that, after the motor speed signal collected by the above-mentioned sensor module is calculated by the energy analysis module, the solution result is delivered to the electronic control unit; and the sensor module The collected vehicle speed and steering wheel angle signals are directly output to the electronic control unit. 3.一种多模式主动转向系统的控制方法，其特征在于，包括如下步骤：3. A control method for a multi-mode active steering system, comprising the steps of: (1)对多模式主动转向系统的输入输出能量流进行分析，将系统能量流等效为电流的函数，系统输入能量包括驾驶员输入Pin1(I)、电能输入Pin2(I)；输出能量包括控制器能耗Pout1(I)、电机能耗Pout2、液压模块能耗Pout3以及系统输出功率Pout4，得到系统总能耗函数Pw(I)，计算公式如下：(1) Analyze the input and output energy flow of the multi-mode active steering system, and the system energy flow is equivalent to the function of current. The system input energy includes driver input P in1 (I), electric energy input P in2 (I); output The energy includes the energy consumption of the controller P out1 (I), the energy consumption of the motor P out2 , the energy consumption of the hydraulic module P out3 and the system output power P out4 , and the total energy consumption function P w (I) of the system is obtained. The calculation formula is as follows: PP oo uu tt 11 (( II )) == RR AA II AA 22 ++ Uu sthe s 22 RR ee ll ee cc PP oo uu tt 22 == ΣMΣM cc ii ++ CC Ff rr ΣωΣω ii ++ CC Ff rr 22 ΣωΣω ii 22 ++ ΣCΣC ii PP oo uu tt 33 == PP sthe s qq 22 ππ ωω -- PP sthe s QQ sthe s PP oo uu tt 44 == ρρ 88 (( CC qq AA 11 )) 22 (( QQ sthe s ++ AA pp dxdx rr dd tt )) 33 ++ ρρ 88 (( CC qq AA 22 )) 22 (( QQ sthe s -- AA pp dxdx rr dd tt )) 33 式中，RA为电枢电阻；IA为电枢电流；Us为控制器两端电压；Relec为控制器电阻；Mci为电机中摩擦造成的转矩损失；CFr为速比摩擦系数；ωi为电机转速；CFr2为速比平方摩擦系数；Ci为电机其他损失；Ps为助力泵的输出压力；q为助力泵排量；Qs为助力泵输出流量；ρ为助力油液密度；Cq为流量系数；Ai为第i个阀口的节流面积；Ap为液压助力缸横截面积；xr为转向螺母位移；In the formula, R A is the armature resistance; I A is the armature current; U s is the voltage across the controller; R elec is the controller resistance; M ci is the torque loss caused by friction in the motor; C Fr is the speed ratio Friction coefficient; ω i is the motor speed; C Fr2 is the square friction coefficient of the speed ratio; C i is other losses of the motor; P s is the output pressure of the booster pump; q is the displacement of the booster pump; Q s is the output flow of the booster pump; ρ C q is the flow coefficient; A i is the throttle area of the i-th valve port; A p is the cross-sectional area of the hydraulic booster cylinder; x r is the displacement of the steering nut; 系统总能耗函数Pw(I)的计算方法为：The calculation method of the system total energy consumption function P w (I) is: Pw(I)＝K1Pout1+K2Pout2+K3Pout3+K4Pout4 P w (I)＝K 1 P out1 +K 2 P out2 +K 3 P out3 +K 4 P out4 式中：K1、K2、K3、K4为能耗系数；In the formula: K 1 , K 2 , K 3 , K 4 are energy consumption coefficients; (2)基于H∞控制理论设计控制器与原系统组成闭环系统，对闭环系统进行求解，得到系统输出的总能耗函数Pw(I)最小值，并计算当系统总能耗函数Pw(I)取得最小值时，电子控制单元所需输出的控制电流Imin大小；(2) Based on the H ∞ control theory, design the controller and the original system to form a closed-loop system, solve the closed-loop system, obtain the minimum value of the total energy consumption function P w (I) output by the system, and calculate the total energy consumption function P w of the system (1) When obtaining the minimum value, the control current I min size of the required output of the electronic control unit; 所述控制电流Imin的数值须满足限制条件：动力转向模块Td跟踪助力目标信号Td *且主动转向模块Tz跟踪转向目标信号Tz *，即：The value of the control current I min must meet the restriction conditions: the power steering module T d tracks the assist target signal T d * and the active steering module T z tracks the steering target signal T z * , namely:
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