CN111216789A - Method and system for controlling rotating speed of electric hydraulic power steering motor and vehicle - Google Patents
Method and system for controlling rotating speed of electric hydraulic power steering motor and vehicle Download PDFInfo
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- CN111216789A CN111216789A CN201811426677.6A CN201811426677A CN111216789A CN 111216789 A CN111216789 A CN 111216789A CN 201811426677 A CN201811426677 A CN 201811426677A CN 111216789 A CN111216789 A CN 111216789A
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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
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/062—Details, component parts
- B62D5/064—Pump driven independently from vehicle engine, e.g. electric driven pump
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Abstract
The invention relates to the field of vehicle steering control, in particular to a method and a system for controlling the rotating speed of an electro-hydraulic power-assisted steering motor and a vehicle. Acquiring steering angular velocity information and steering torque information, and controlling a steering motor to operate at a rotating speed value less than or equal to a low rotating speed threshold value if the steering angular velocity of the vehicle is less than a set steering judgment critical angular velocity threshold value or the steering torque is less than a set steering judgment critical torque threshold value; if the steering torque is greater than or equal to the set steering judgment critical torque threshold value and the steering angular velocity is greater than or equal to the set steering judgment critical angular velocity threshold value, the rotating speed of the steering motor is controlled to change in direct proportion to the steering angular velocity, steering control is simply and reliably achieved, power assistance is not needed, the energy consumption of the steering motor is optimized by enabling the rotating speed of the steering motor to run at a low rotating speed, and energy waste is avoided.
Description
Technical Field
The invention relates to the field of vehicle steering control, in particular to a method and a system for controlling the rotating speed of an electro-hydraulic power-assisted steering motor and a vehicle.
Background
In a conventional motor vehicle employing a hydraulic power steering system, a steering oil pump is driven by an engine. When the engine idles, the flow provided by the steering oil pump is low; as the rotating speed of the engine increases, the flow provided by the steering oil pump increases, and the low-speed steering portability and the high-speed steering stability cannot be considered at the same time; and under the high-speed non-steering working condition, the steering oil liquid circularly flows and still consumes larger power, so that energy waste is caused. Therefore, the existing passenger car is mostly subjected to electric hydraulic power steering, and the steering oil pump is driven by the steering motor to provide steering power assistance. The steering power assistance is related to the provided flow, the flow is insufficient, the steering force can generate delay, and the steering is heavy; the flow is too big, and the power that turns to is too light, turns to or not turns to the operating mode and all can consume extra power, causes the energy waste, and the steering system is obvious to generate heat simultaneously, turns to the fluid temperature and risees. In order to overcome the defects of the electro-hydraulic power steering, the rotating speed of a steering motor of the electro-hydraulic power steering system at the present stage can be changed along with the change of the vehicle speed and the current of the steering motor, and both low-speed steering portability and high-speed steering stability can be considered.
The patent application publication No. CN105253192A of the invention of China discloses a control method of an automobile electric hydraulic power steering system, a controller collects a vehicle speed signal and a steering wheel turning speed signal, a power-assisted characteristic curve determined by vehicle parameters and EHPS system parameters is used for determining a target rotating speed value of a motor according to a steering wheel moment, lateral acceleration and a vehicle speed change curve preferred by a driver, the target rotating speed control of an oil pump driving motor is realized, the output flow control of a hydraulic oil pump is indirectly realized, the purposes of meeting the portability of steering operation and the steering hand feeling and reducing the energy consumption are achieved, and the operation and the safety of automobile driving are effectively improved. However, the control method needs to perform corresponding judgment and control through the preference of the driver and the power-assisted characteristic curve, the control method is complex, the reliability of the control process is poor, the steering angular velocity parameter introduced in the method does not play a substantial role, the control process cannot reliably follow the change of the steering angular velocity, and in addition, the influence of the steering torque on the steering control cannot be eliminated because the steering control is closely related to the magnitude of the steering torque, so the control method has low precision and poor reliability.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the rotating speed of an electric hydraulic power steering motor and a vehicle, which are used for solving the problems of low control precision and poor reliability of the control method caused by the fact that the existing power steering control method is complex and cannot be controlled according to actual steering requirements.
In order to realize the rotating speed control of a steering motor of a power-assisted steering system, the problems of low control precision and poor reliability of a control method caused by the fact that the existing power-assisted steering control method is complex and cannot be controlled according to actual steering requirements are solved. The invention provides a method for controlling the rotating speed of an electric hydraulic power steering motor, which comprises a first control process or a second control process,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is smaller than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold value, and if the steering torque is larger than or equal to the set steering judgment critical torque threshold value and the steering angular speed is larger than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed.
The method has the advantages that the relevance between steering control and steering angular velocity is realized through the first control process, the steering control is simply and reliably realized, and the energy consumption optimization of the steering motor is realized and the energy waste is avoided by enabling the rotating speed of the steering motor to run at a lower rotating speed under the condition of no need of power assistance when the steering angle of the vehicle power-assisted steering system is fixed; the relevance of steering control and steering torque is realized through a second control process, the steering control is simply and reliably realized, the steering torque is smaller than a steering judgment critical torque threshold value, the steering requirement is indicated when the steering torque exceeds the steering judgment critical torque threshold value, the steering is not required when the steering torque is lower than the steering judgment critical torque threshold value, the power assisting is not required, the energy consumption optimization of the steering motor is realized by enabling the rotating speed of the steering motor to run at a lower rotating speed, and the energy waste is avoided.
Furthermore, in order to control the rotating speed of the steering motor according to the change condition of the vehicle speed, reduce the steering power when the speed is higher, and improve the steering power when the speed is lower, so as to realize the high-speed steering stability and the low-speed steering flexibility, vehicle speed information is obtained in any control process, and the rotating speed of the steering motor is controlled to operate between a high rotating speed threshold value and a middle rotating speed threshold value when the vehicle speed is lower than a low vehicle speed threshold value under any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
Further, in order to realize the starting control of the steering motor, at least one signal of a parking signal, a gear signal, an accelerator pedal signal and a vehicle speed signal is obtained before any control process is executed, and the steering motor is controlled to start when any condition of parking release, forward gear engagement, accelerator pedal depression and vehicle speed greater than 5km/h is met.
Further, the steering angle is used as a control parameter for assisting the steering angular speed and the steering torque, and when the steering angle is 0 (namely the vehicle is in a straight running middle position) or the steering angle is at a limit position, the rotating speed of the steering motor runs at the lowest rotating speed, so that energy conservation is realized.
The invention provides a system for controlling the rotating speed of an electric hydraulic power steering motor, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor realizes a first control process or a second control process when executing the program,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is less than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to a low rotating speed threshold value, if the steering torque is greater than or equal to the set steering judgment critical torque threshold value and the steering angular speed is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in proportion to the steering angular speed, realizing the association between the steering control and the steering torque through a second control process, simply and reliably realizing the steering control, and when the steering torque is less than the steering judgment critical torque threshold value and exceeds the steering judgment critical torque threshold value, indicating that the steering demand exists, indicating that the steering is not needed when the steering torque is less than the steering judgment critical torque threshold value, and not needing power assistance, realizing the optimization of the energy consumption of the steering motor by enabling the rotating speed of the steering motor to operate, energy waste is avoided.
Further, in order to control the rotating speed of the steering motor according to the change condition of the vehicle speed, reduce the steering power when the speed is higher, and improve the steering power when the speed is lower, so as to realize high-speed steering stability and low-speed steering flexibility, vehicle speed information is also acquired in any control process of the system, and the rotating speed of the steering motor is controlled to operate between a high rotating speed threshold value and a middle rotating speed threshold value when the vehicle speed is lower than a low vehicle speed threshold value under any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
Further, in order to realize the starting control of the steering motor, at least one signal of a parking signal, a gear signal, an accelerator pedal signal and a vehicle speed signal is obtained before any control process in the system is executed, and the steering motor is controlled to start when any condition of parking release, forward gear engagement, accelerator pedal depression and vehicle speed greater than 5km/h is met.
The invention provides a vehicle, comprising a vehicle body and an electric hydraulic power-assisted steering system arranged in the vehicle body, wherein the electric hydraulic power-assisted steering system comprises a steering motor and a control system used for controlling the steering motor, the control system comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, the processor realizes a first control process or a second control process when executing the program,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is less than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to a low rotating speed threshold value, if the steering torque is greater than or equal to the set steering judgment critical torque threshold value and the steering angular speed is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in proportion to the steering angular speed, realizing the association between the steering control and the steering torque through a second control process, simply and reliably realizing the steering control, and when the steering torque is less than the steering judgment critical torque threshold value and exceeds the steering judgment critical torque threshold value, indicating that the steering demand exists, indicating that the steering is not needed when the steering torque is less than the steering judgment critical torque threshold value, and not needing power assistance, realizing the optimization of the energy consumption of the steering motor by enabling the rotating speed of the steering motor to operate, energy waste is avoided.
Further, in order to control the rotating speed of the steering motor according to the change condition of the vehicle speed, reduce the steering power when the speed is higher, and improve the steering power when the speed is lower, so as to realize high-speed steering stability and low-speed steering flexibility, vehicle speed information is obtained in any control process of the vehicle, and the rotating speed of the steering motor is controlled to operate between a high rotating speed threshold value and a middle rotating speed threshold value when the vehicle speed is lower than a low vehicle speed threshold value under any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
Further, in order to realize the starting control of the steering motor, at least one signal of a parking signal, a gear signal, an accelerator pedal signal and a vehicle speed signal is obtained before any control process in the vehicle is executed, and the steering motor is controlled to start when any condition of parking release, forward gear engagement, accelerator pedal depression and vehicle speed greater than 5km/h is met.
Drawings
FIG. 1 is a flow chart of a method of controlling the rotational speed of an electro-hydraulic power steering motor of the present invention;
FIG. 2 is a schematic view of an electro-hydraulic power steering system of the present invention;
wherein, 1, a combined sensor; 2. a vehicle speed sensor; 3. a vehicle control unit; 4. a steering motor controller; 5. a steering motor; 6. a steering oil pump; 7. a data line; 8. a steering motor supply line; 9. a steering oil tank; 10. an oil suction pipe; 11. a high pressure oil inlet pipe; 12. a power steering gear; 13. a low pressure return line; 14. a steering wheel; 15. a steering column; 16. a steering rocker arm; 17. a steering drag link; 18. a knuckle; 19. a knuckle arm; 20. a tie rod; 21. turning to a trapezoidal arm.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Method example 1
The invention provides a method for controlling the rotating speed of an electric hydraulic power steering motor, which comprises a first control process or a second control process as shown in figure 1,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is smaller than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold value, and if the steering torque is larger than or equal to the set steering judgment critical torque threshold value and the steering angular speed is larger than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed.
The steering angular velocity is smaller than a set steering judgment critical angular velocity threshold, wherein the steering angular velocity comprises the conditions that the steering angle is not changed and the steering angle reaches the limit position; regarding the steering torque, when the steering torque exceeds the steering judgment threshold torque value, it indicates that there is a steering demand, and when the steering torque is lower than the steering judgment threshold torque value, it indicates that no steering is required.
In addition, on the basis, vehicle speed information is also acquired in any control process, and under any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold value, when the vehicle speed is lower than a low vehicle speed threshold value, the rotating speed of a steering motor is controlled to operate between a high rotating speed threshold value and a medium rotating speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
Specifically, under the condition of the same steering angular velocity, when the vehicle speed is low (for example, the vehicle speed is lower than 40km/h), the rotating speed of the steering motor runs between a high rotating speed threshold and a medium rotating speed threshold, and the rotating speed of the steering motor changes in proportion to the steering angular velocity; when the speed is between the low speed threshold and the medium speed threshold (for example, the speed is 40 km/h-80 km/h), the rotating speed of the steering motor runs between the medium rotating speed threshold and the low rotating speed threshold, and the rotating speed of the steering motor changes in direct proportion to the steering angular speed; when the vehicle speed is between the high vehicle speed threshold value and the medium vehicle speed threshold value (for example, the vehicle speed is higher than 80km/h and is less than 120km/h), the rotating speed of the steering motor runs at a rotating speed value which is less than or equal to the low rotating speed threshold value, and the rotating speed of the steering motor is changed in proportion to the steering angular speed.
Method example 2
The invention provides a method for controlling the rotating speed of an electric hydraulic power steering motor, which is characterized in that on the basis of the embodiment 1 of the method, the control method also adds the starting conditions of the steering motor: and judging whether to start the steering motor according to whether the parking is loosened or not, whether the D gear is engaged or not, whether an accelerator pedal signal or the vehicle speed is greater than 5km/h or not, and when any one of the conditions is met, transmitting a steering enabling signal to a steering motor controller, and controlling the steering motor to start and operate by the steering motor controller.
The steering angle is used as a control parameter for assisting the steering angular speed and the steering torque, and when the steering angle is 0 (namely the vehicle is in a straight middle position) or the steering angle is at a limit position, the rotating speed of the steering motor runs at the lowest rotating speed, so that the energy conservation is realized.
According to the vehicle speed signal, the steering angle signal, the steering torque signal and the steering angle speed signal, the steering motor controller controls the rotating speed of the steering motor through a target value of a calibration program, and the steering oil pump correspondingly outputs the flow of the steering demand to realize the on-demand power assistance, which is already described in method embodiment 1, and is not repeated in method embodiment 2.
In addition, according to the conversion coefficient of the rotating speed of the steering motor and the steering angular speed, the corresponding coefficient of the steering angular speed and the rotating speed of the steering motor is initially determined in a control program; according to the steering force standard (such as 15N-25N) of the vehicle, real vehicle test is carried out, under the matrix combination of different vehicle speeds and steering angular speeds, the corresponding coefficient of the rotating speed of the steering motor and the steering angular speed is adjusted, the steering force requirement is met, and meanwhile, the flow is provided according to the requirement.
System embodiment
The invention provides an electro-hydraulic power-assisted steering system, which comprises a combined sensor 1, a vehicle speed sensor 2, a vehicle control unit 3, a steering motor controller 4, a steering motor 5, a steering oil pump 6, a data line 7 and a steering motor power supply line 8, as shown in figure 2. The combined sensor 1 has the functions of collecting signals of an integrated corner, steering torque, corner speed and the like. The steering motor controller 4 is used for realizing a method for controlling the rotating speed of the electro-hydraulic power-assisted steering motor.
The vehicle control unit 3 collects vehicle speed signals from the vehicle speed sensor 2 through the data line 7, collects steering motor starting signals through the data line 7, the steering motor starting signals comprise parking signals, D-gear signals and accelerator pedal signals, and the signals are sent to the steering motor controller 4 through the data line 7, and the steering motor can be started when one of the signals is met. The steering motor controller 4 collects signals such as a steering angle, a steering torque, a steering angular velocity, and the like from the combination sensor 1 through a data line 7. The steering motor controller 4 drives the steering motor 5 through a power supply line, the steering motor 5 is connected with the steering oil pump 6 through a coupler to drive the steering oil pump 6 to operate, and the steering motor 5 feeds back a rotating speed signal to the motor controller 4 through a data line 7.
In the above-mentioned embodiment of the electro-hydraulic power steering system, when in use, hydraulic oil in the steering oil tank 9 is sucked into the steering oil pump 6 through the oil suction pipe 10, and the steering oil pump 6 pumps out the hydraulic oil by means of volume compression and enters the power steering gear 12 through the high-pressure oil inlet pipe 11. When a driver rotates a steering wheel 14, steering force is applied to the steering wheel 14 and is transmitted to a power steering gear 12 through a steering column 15, the steering force controls a rotary valve of the power steering gear 12, so that a high-pressure oil cylinder and a low-pressure oil cylinder of the power steering gear 12 generate pressure difference in corresponding directions to provide power assistance, a steering rocker arm 16 is further driven to rotate in the corresponding direction of rotation of the steering wheel 14, the steering rocker arm 16 drives a steering straight pull rod 17 and a steering knuckle arm 19, and different rotation angles of left and right wheels are coordinated through a steering knuckle 18, a steering cross pull rod 20 and a steering trapezoid arm 21, so that reasonable steering is realized. The hydraulic oil in the low-pressure oil cylinder of the power steering gear 12 flows back to the steering oil tank 9 through the low-pressure oil return pipe 13, is cooled and filtered, and then circularly flows to provide the assistance.
The type of the steering motor is not limited, and a permanent magnet synchronous type or a direct current brushless type can be adopted.
The electric hydraulic power-assisted steering system preferably adopts a steering motor (such as a rated voltage of 12VDC or 24VDC or 48VDC and the like) with small moment of inertia and suitable for A-level voltage, and also can adopt a steering motor (such as a rated voltage of 220VDC to 700VDC and the like) with large moment of inertia and suitable for B-level voltage.
Vehicle embodiment
The present invention further provides a vehicle, where the vehicle includes the electrohydraulic power steering system in the above system embodiment, and the specific contents of the method embodiment 1 and the method embodiment 2 adopted in the control method of the steering motor in the electrohydraulic power steering system are all embodied in the corresponding embodiments, and are not described herein again.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. The technical means in the above embodiments are changed, replaced, modified in a manner that will be easily imaginable to those skilled in the art, and the functions of the technical means are substantially the same as those of the corresponding technical means in the present invention, and the objectives of the invention are also substantially the same, so that the technical solution formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (9)
1. A method for controlling the rotation speed of an electric hydraulic power steering motor is characterized by comprising a first control process or a second control process,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is smaller than the set steering judgment critical torque threshold value; controlling the steering motor to operate at a speed less than or equal to the low speed threshold; and if the steering torque is greater than or equal to the set steering judgment critical torque threshold value and the steering angular speed is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed.
2. The method for controlling the rotating speed of the electro-hydraulic power-assisted steering motor according to claim 1, wherein vehicle speed information is acquired in any control process, and the rotating speed of the steering motor is controlled to operate between a high rotating speed threshold and a medium rotating speed threshold when the vehicle speed is lower than a low vehicle speed threshold at any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
3. The method of claim 1, further comprising acquiring at least one of a parking signal, a shift signal, an accelerator pedal signal, and a vehicle speed signal before performing any one of the above control processes, and controlling the steering motor to start when any one of conditions of parking release, forward gear engagement, accelerator pedal depression, and vehicle speed greater than 5km/h is satisfied.
4. An electro-hydraulic power steering motor speed control system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements a first control procedure or a second control procedure when executing the program,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is smaller than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold value, and if the steering torque is larger than or equal to the set steering judgment critical torque threshold value and the steering angular speed is larger than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed.
5. The system according to claim 4, wherein vehicle speed information is acquired during any one of the control processes, and when the vehicle speed is lower than a low vehicle speed threshold value at any one of the steering angular speeds greater than or equal to a set steering judgment threshold angular speed threshold value, the rotation speed of the steering motor is controlled to operate between a high rotation speed threshold value and a medium rotation speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
6. The system of claim 4, further comprising a parking signal, a shift signal, an accelerator pedal signal, and a vehicle speed signal before any of the control processes is performed, and controlling the steering motor to start when any of conditions of parking release, forward gear engagement, accelerator pedal depression, and vehicle speed greater than 5km/h is satisfied.
7. A vehicle comprising a vehicle body and an electro-hydraulic power steering system disposed within the vehicle body, the electro-hydraulic power steering system comprising a steering motor and a control system for steering motor control, the control system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements a first control procedure or a second control procedure when executing the program,
the first control process is as follows:
obtaining steering angular velocity information, and judging according to the steering angular velocity information: if the steering angular speed of the vehicle is less than the set steering judgment critical angular speed threshold value, controlling the steering motor to operate at a rotating speed value less than or equal to the low rotating speed threshold value; if the steering angular speed of the vehicle is greater than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed;
the second control process is as follows:
obtaining steering torque information and steering angular velocity information, and judging according to the steering torque information: if the steering torque is smaller than the set steering judgment critical torque threshold value, controlling the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold value, and if the steering torque is larger than or equal to the set steering judgment critical torque threshold value and the steering angular speed is larger than or equal to the set steering judgment critical angular speed threshold value, controlling the rotating speed of the steering motor to change in direct proportion to the steering angular speed.
8. The vehicle according to claim 7, characterized in that, in any control process, vehicle speed information is also acquired, and under any steering angular speed which is greater than or equal to a set steering judgment critical angular speed threshold value, when the vehicle speed is lower than a low vehicle speed threshold value, the rotating speed of a steering motor is controlled to operate between a high rotating speed threshold value and a medium rotating speed threshold value; when the vehicle speed is between the low vehicle speed threshold and the medium vehicle speed threshold, controlling the rotating speed of the steering motor to operate between the medium rotating speed threshold and the low rotating speed threshold; and when the vehicle speed is between the medium vehicle speed threshold and the high vehicle speed threshold, controlling the rotating speed of the steering motor to operate at a rotating speed value smaller than or equal to the low rotating speed threshold.
9. The vehicle of claim 7, wherein at least one of a parking signal, a shift signal, an accelerator pedal signal and a vehicle speed signal is acquired before any of the above control processes is performed, and it is determined that the steering motor is controlled to be started when any of conditions of parking release, forward gear engagement, accelerator pedal depression and vehicle speed greater than 5km/h is satisfied.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811426677.6A CN111216789A (en) | 2018-11-27 | 2018-11-27 | Method and system for controlling rotating speed of electric hydraulic power steering motor and vehicle |
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| CN201811426677.6A CN111216789A (en) | 2018-11-27 | 2018-11-27 | Method and system for controlling rotating speed of electric hydraulic power steering motor and vehicle |
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| CN111216789A true CN111216789A (en) | 2020-06-02 |
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| CN201811426677.6A Pending CN111216789A (en) | 2018-11-27 | 2018-11-27 | Method and system for controlling rotating speed of electric hydraulic power steering motor and vehicle |
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| CN115094970A (en) * | 2022-07-22 | 2022-09-23 | 厦门厦工机械股份有限公司 | Method for controlling rotating speed of hydraulic motor of electric loader |
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