CN112441114B - Method for calculating hand force of steering wheel when torque sensor fails - Google Patents
Method for calculating hand force of steering wheel when torque sensor fails Download PDFInfo
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- CN112441114B CN112441114B CN201910825632.4A CN201910825632A CN112441114B CN 112441114 B CN112441114 B CN 112441114B CN 201910825632 A CN201910825632 A CN 201910825632A CN 112441114 B CN112441114 B CN 112441114B
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- 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
- B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
- B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
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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
- B62D5/0481—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
- B62D5/049—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 detecting sensor failures
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Abstract
The invention relates to the technical field of an electric power steering system of an automobile and the technical field of restraining power-assisted fluctuation of the electric power steering system, in particular to a method for calculating hand force of a steering wheel when a torque sensor fails, which utilizes a self-learning function to avoid a complicated calibration process in the calculation of the hand force of the steering wheel; the idle stroke problem existing in the steering system and the problem that the transmission system is abraded after the steering system is used for a period of time are considered, the calculation input is corrected, and the accuracy of the hand force of the steering wheel obtained through calculation is improved; the hand force calculation parameters of the steering wheel are continuously learned when the torque sensor fails, the hand force value of the steering wheel is consistent with that of the steering wheel when the torque sensor fails, and the hand feeling consistency of the electronic steering power-assisted system is guaranteed to a certain extent when the torque sensor fails.
Description
Technical Field
The invention relates to the technical field of an electric power steering system of an automobile and power fluctuation suppression thereof, in particular to a method for calculating hand force of a steering wheel when a torque sensor fails.
Background
In the working process of the electric power steering, a torque sensor on a steering column can monitor the torque (hereinafter referred to as steering wheel hand force) acted on a steering wheel by a driver in real time to serve as an important basis for the power assistance provided by an electric power steering system, when the torque sensor fails, the steering wheel hand force cannot be obtained, the steering wheel hand force is a basic basis for calculating the power assistance of the electric power steering system, and the signal abnormity means that the electric power steering system cannot calculate the power assistance which the electric power steering system should apply when the driver steers, so that the driving safety of an automobile is threatened.
Therefore, it is necessary to design a method for calculating the hand force of the steering wheel when the torque sensor fails, so that the hand force of the steering wheel is used as a working basis of the electric power steering system, and the electric power steering system can still work normally under the condition that the torque sensor fails.
Disclosure of Invention
The invention breaks through the difficult problems in the prior art, designs the method for calculating the hand force of the steering wheel when the torque sensor fails, and provides the hand force of the steering wheel as the working basis of the electric power steering system, so that the electric power steering system can still work normally under the condition that the torque sensor fails.
In order to achieve the purpose, the invention designs a hand force calculation method of a steering wheel when a torque sensor fails, which is characterized in that: the calculation is carried out according to the following steps:
step 1: the rotation angle of the motor is converted into the corresponding rotation angle of the steering wheel, which is recorded as theta, based on the transmission ratio between the power-assisted motor and the steering wheel in the electric power-assisted steering systemstr,motor；
Step 2: judging the working state of the torque sensor, if the torque sensor works normally, entering the step 3, and if the torque sensor is judged to have a fault, entering the step 8;
and step 3: recording steering wheel hand force value T given by torque sensorhand,senAnd recording the system rotation angle difference delta theta corresponding to the hand force value of the steering wheelsysThe system rotation angle difference is the difference between the steering wheel rotation angle corresponding to the hand force of the steering wheel and the motor rotation angle of the converted steering wheel rotation angle;
and 4, step 4: the T recorded in the step 3hand,senAnd Δ θsysDividing the steering system into four recording areas according to the relationship between the rotation angle difference and the torque, and recording the four recording areas as Tzone1~Tzone4And Δ θzone1~Δθzone4；
And 5: continuously recording the hand strength and the system angle difference of the steering wheel in the four recording areas in the step 4 in real time, respectively calculating the average value of the hand strength and the corresponding system angle difference of the steering wheel in the four areas in the step, and recording the average value as Tavg,zone,iAnd Δ θavg,zone,i；
Step 6: respectively calculating the system rotation angle difference zero position delta theta when the steering wheel rotates to the left by taking the average value obtained in the step 5 as the basis and considering the idle stroke existing in the rotation process from the steering wheel to the motor and the problem that the steering system is abraded after being used to cause the zero position of the motor rotation angle and the zero position of the steering wheel rotation angle not to be matchedzeroAnd system angle difference zero delta theta when steering wheel is turned to rightzero' and calculating the steering column stiffness when turning the steering wheel to the leftKstiffAnd steering column stiffness K when steering wheel is turned to the rightstiff'; the zero system rotation angle difference refers to the system rotation angle difference when the hand force value of the steering wheel is zero;
and 7: step 1 to step 6 are circulated to enable delta thetazeroAnd Δ θzero' and KstiffAnd Kstiff' obtaining real-time continuous optimization;
and 8: locking the zero position delta theta of the system rotation angle difference when the current steering to the left is carried outzero,leftAnd system angle difference zero delta theta in right-hand steeringzero,rightAnd left and right steering stiffness Kstiff、Kstiff', then calculates a steering column rigidity learning value Kstiff,avgSaid learning value K of steering column stiffnessstiff,avgIs left steering stiffness and right steering stiffness Kstiff、Kstiff' average value after locking due to failure of the hand force sensor;
and step 9: at the current system angle difference delta thetasys,nowFor the input values, the system angle difference Delta theta after correction of the vacancy shift is calculatedfix；
Step 10: delta theta obtained according to step 9fixAnd K of step 8stiff,avgAnd calculating the hand force T of the steering wheel when the torque sensor failsest。
In step 1, the conversion formula for converting the motor rotation angle into the corresponding steering wheel rotation angle is as follows:
wherein, thetastr,motorSteering wheel angle k obtained by conversionsysFor the transmission ratio of steering wheel to booster motor in electric power steering systems, thetamotorIs the motor rotation angle.
T in the step 4zone1~Tzone4And Δ θzone1~Δθzone4The differentiation of (1) is as follows: according to the angle difference-moment relation of the steering system, in +/-Tdead、±TmidAs a reference:
(1) when T ishand,sen＞TmidWhen, Thand,senIs marked as Tzone1，ΔθsysIs recorded as Delta thetazone1；
(2) When T ismid＞Thand,sen＞TdeadWhen, Thand,senIs marked as Tzone2，ΔθsysIs recorded as Delta thetazone2；
(3) When is-Tdead＞Thand,sen＞-TmidWhen, Thand,senIs marked as Tzone3，ΔθsysIs recorded as Delta thetazone3；
(4) When T ishand,sen＜-TmidWhen, Thand,senIs marked as Tzone4，ΔθsysIs recorded as Delta thetazone4；TdeadIs a hand force dead zone of the steering wheel, TmidThe middle value of the hand force of the steering wheel.
Said step 5
；
(ii) a Wherein i is 1,2,3,4, which respectively correspond to the 4 areas distinguished in the step 4, N is the number of data recorded in the ith area, and T isavg,zone,iIs the average value of the steering wheel hand force in the i-th zone, Delta thetaavg,zone,iThe average value of the system rotation angle difference corresponding to the hand force of the steering wheel in the ith area is obtained.
Said step 6
In the above formula, Tavg,zone,1Is the average of the steering wheel hand force, Δ θ, in zone 1avg,zone,1Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 1 st area, Tavg,zone,2Is the average value of the steering wheel hand force in the 2 nd zone, Δ θavg,zone,2Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 2 nd area, Tavg,zone,3Is the average value of steering wheel hand force in zone 3, Δ θavg,zone,3Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 3 rd zone, Tavg,zone,4Is the average value of steering wheel hand force in zone 4, Δ θavg,zone,4The average of the system angle differences for the steering wheel hand force in zone 4.
The real-time optimization formula of the system rotation angle difference zero position in the step 7 is
Wherein y is a zero value of system rotation angle difference optimized in real time, yoldAs old value of system angle difference zero, ynewThe current value of the zero position of the system rotation angle difference is alpha, and the recording filter coefficient is alpha; the real-time optimization formula of the rigidity of the steering column is
Wherein x is the steering column stiffness optimized in real time, xoldOld value of steering column stiffness, xnewIs the current value of steering column stiffness.
Delta theta in the step 9fixThe calculation method of (2) is as follows:
in said step 10
。
Compared with the prior art, the invention has the self-learning function, and avoids the complicated calibration process; the idle stroke problem existing in the steering system and the problem that the transmission system is abraded after the steering system is used for a period of time are considered, the calculation input is corrected, and the accuracy of the hand force of the steering wheel obtained through calculation is improved; the hand force calculation parameters of the steering wheel are continuously learned when the torque sensor fails, the hand force value of the steering wheel is consistent with that of the steering wheel when the torque sensor fails, and the hand feeling consistency of the electronic steering power-assisted system is guaranteed to a certain extent when the torque sensor fails.
Drawings
FIG. 1 is a schematic diagram of the basic relationship between the steering wheel hand force and the system angle difference based on the calculation of the steering wheel hand force.
FIG. 2 is a schematic flow chart of the practice of the present invention.
Detailed Description
In the specific implementation of the invention, the method comprises the following steps:
the method comprises the following initial steps:
since the transmission ratio is determined by the mechanical structure of the specific electric power steering system, the steering wheel is rigidly fixed on the steering column, and the power motor is transmitted with the steering column through the gear, a transmission ratio exists between the motor and the steering wheel, the transmission ratio is determined by the mechanical structure, the transmission ratio may be different in different mechanical structure designs, but the transmission ratio is a constant value, and therefore, the transmission ratio between the power motor and the steering wheel in the electric power steering system in the system is determined firstly.
Then, the transmission ratio between a power-assisted motor and a steering wheel in the electric power-assisted steering system is used as the basis, and a formula is utilized
Converting the motor rotation angle into a corresponding steering wheel rotation angle, wherein thetastr,motorSteering wheel angle k obtained by conversionsysFor the transmission ratio of steering wheel to booster motor in electric power steering systems, thetamotorFor a motor to rotateAnd (4) an angle.
Then, the working state of the torque sensor is judged, and when the torque sensor works normally, the hand force of a steering wheel is entered for self-learning continuous updating:
step 1: recording steering wheel hand force value T given by torque sensorhand,senAnd recording the system rotation angle difference delta theta corresponding to the hand force value of the steering wheelsys；
Step 2: as shown in FIG. 1, at + -TdeadAnd. + -. TmidTaking as a criterion, recording T in the step 3hand,senAnd Δ θsysDividing the steering system into four recording areas according to the relationship between the rotation angle difference and the torque, and recording the four recording areas as Tzone1~Tzone4And Δ θzone1~Δθzone4The specific distinguishing method comprises the following steps:
(1) when T ishand,sen＞TmidWhen, Thand,senIs marked as Tzone1，ΔθsysIs recorded as Delta thetazone1；
(2) When T ismid＞Thand,sen＞TdeadWhen, Thand,senIs marked as Tzone2，ΔθsysIs recorded as Delta thetazone2；
(3) When is-Tdead＞Thand,sen＞-TmidWhen, Thand,senIs marked as Tzone3，ΔθsysIs recorded as Delta thetazone3；
(4) When T ishand,sen＜-TmidWhen, Thand,senIs marked as Tzone4，ΔθsysIs recorded as Delta thetazone4；TdeadIs a hand force dead zone of the steering wheel, TmidThe hand force intermediate value of the steering wheel is obtained;
and step 3: continuously recording the hand force of the steering wheel and the system rotation angle difference in the four recording areas in the previous step in real time, respectively calculating the average value of the hand force of the steering wheel and the corresponding system rotation angle difference in the four areas in the previous step, and recording the average value as Tavg,zone,iAnd Δ θavg,zone,iThe specific calculation method is as follows:
；
(ii) a Wherein i is 1,2,3,4, which respectively correspond to the 4 areas distinguished in the previous step, N is the number of data recorded in the ith area, and T isavg,zone,iIs the average value of the steering wheel hand force in the i-th zone, Delta thetaavg,zone,iThe average value of the system rotation angle difference corresponding to the hand force of the steering wheel in the ith area is obtained;
and 4, step 4: taking the average value obtained in the previous step as a basis, respectively calculating the system rotation angle difference zero position delta theta when the hand force value of the steering wheel is zero when the steering wheel is rotated to the left by considering the idle stroke existing in the rotation process from the steering wheel to the motor and the problem that the steering system is abraded after being used to cause the zero position of the motor rotation angle and the zero position of the steering wheel rotation angle to be unmatchedzeroAnd a system rotation angle difference zero position delta theta when the hand force value of the steering wheel is zero when the steering wheel is rotated to the rightzero', and calculates steering column stiffness K when turning the steering wheel to the leftstiffAnd steering column stiffness K when steering wheel is turned to the rightstiff' the specific calculation method is as follows:
；
in the above formula, Tavg,zone,1Is the average of the steering wheel hand force, Δ θ, in zone 1avg,zone,1Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 1 st area, Tavg,zone,2Is the average value of steering wheel hand force, Δ, in the 2 nd regionθavg,zone,2Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 2 nd area, Tavg,zone,3Is the average value of steering wheel hand force in zone 3, Δ θavg,zone,3Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 3 rd zone, Tavg,zone,4Is the average value of steering wheel hand force in zone 4, Δ θavg,zone,4The average value of the system rotation angle difference corresponding to the hand force of the steering wheel in the 4 th area is obtained;
and 5: from the beginning, make the system rotation angle difference zero delta thetazeroAnd Δ θzero' and steering column stiffness KstiffAnd Kstiff' obtaining a real-time continuous optimization, wherein the real-time optimization formula of the system rotation angle difference zero position is
Wherein y is a zero value of system rotation angle difference optimized in real time, yoldAs old value of system angle difference zero, ynewA recording filter coefficient of which alpha is less than 1 and greater than 0 is the current value of the zero position of the system rotation angle difference; the real-time optimization formula of the rigidity of the steering column is
Wherein x is the steering column stiffness optimized in real time, xoldOld value of steering column stiffness, xnewIs the current value of steering column stiffness.
When the working state of the torque sensor is judged to be a fault in the initial step, entering a failure calculation state, specifically as follows:
(1) locking the zero position delta theta of the system rotation angle difference when the current steering to the left is carried outzero,leftAnd system angle difference zero delta theta in right-hand steeringzero,rightAnd left and right steering stiffness Kstiff、Kstiff', then calculates a steering column rigidity learning value Kstiff,avgSaid learning value K of steering column stiffnessstiff,avgIs left steering stiffness and right steering stiffness Kstiff、Kstiff' average value after locking due to failure of the hand force sensor;
(2) at the current system angle difference delta thetasys,nowFor the input values, the system angle difference Delta theta after correction of the vacancy shift is calculatedfixThe concrete formula is as follows:
；
(3): according to Delta thetafixAnd Kstiff,avgAnd calculating the hand force T of the steering wheel when the torque sensor failsestWherein, in the step (A),
。
example (b):
1. assume that the current time is t1, and the steering wheel angle is 20.3 ° motor angle θmotorAt 420 deg., assuming 1/21 of the transmission ratio from the steering wheel to the power-assisted motor in the steering system, the angle of the motor rotation is calculated and converted into the angle of the steering wheel end
Calculating the system rotation angle difference delta thetasys=20.3°-20°=0.3°。
2. Judging whether the torque sensor fails, and assuming that the torque sensor does not fail at the current time t 1;
2.1. setting TdeadIs 0.3Nm, TmidFor 5Nm, assume the steering wheel hand force value T given by the torque sensor at the current time T1hand,sen1Nm, then Tmid＞Thand,sen＞TdeadSince the relationship holds, the steering wheel hand force T at time T1 is recordedzone2，t1= 0.6Nm, system angle difference Δ θzone2=0.3°。
2.2. Assuming that 20 recording passes before time t1, 20 data points are recorded, 5 data points for each of the four regions, and the following values are recorded:
Tavg,zone,1=7Nm, Δθavg,zone,1=2.4°；
Tavg,zone,2=1Nm, Δθavg,zone,2=0.4°；
Tavg,zone,3=-1Nm, Δθavg,zone,3=-0.4°；
Tavg,zone,4=-7Nm, Δθavg,zone,4=-2.4°。
the data point recorded at the time T1 is judged to be within the zone2 from the step 2.1, so the average value of the zone2 is updated, Tavg,zone,2=1 Nm x 5 / 6 + 0.6Nm x 1 / 6 = 0.93Nm，Δθavg,zone,2=0.4 ° x 5 / 6 + 0.3° x 1 / 6 = 0.38°。
2.3. And respectively calculating the zero position of the system rotation angle difference and the steering column rigidity when the steering wheel turns left and turns right according to the four groups of average values.
2.4 suppose that the left and right angle difference zero at the last time instant of t1 are: delta thetazero=0.06°，Δθzero' = -0.06 DEG, left and right steering column rigidity Kstiff=2.8 Nm/°，Kstiff' =2.8 Nm/°; setting the filter coefficient α =0.1, the updated left and right rotation angle difference zero and left and right steering column stiffness are respectively:
Δθzero = 0.06° x (1 – 0.1) + 0.071° x 0.1 = 0.061°;
Δθzero’ = -0.06° x (1 – 0.1) + (-0.067°) x 0.1 = -0.061°;
Kstiff= 2.8Nm/°x (1-0.1) + 3.005Nm/°x 0.1 = 2.821 Nm/°;
Kstiff’ = 2.8Nm/°x (1-0.1) + 3Nm/°x 0.1 = 2.82 Nm/°
the steering wheel hand force calculation method designed by the invention has a self-learning function, and can continuously self-learn the system angle difference zero position corresponding to the steering wheel hand force zero position during left steering and right steering and the steering column rigidity, and optimize in real time.
3. Assuming that the torque sensor fails at the next time t2 at t1, the hand force cannot be obtained by the torque sensor at this time, and the learned steering column stiffness and the zero system angle difference need to be calculated based on the system angle difference, so as to obtain the hand force. Assuming that the steering wheel angle is 30 degrees at the moment, the motor angle theta ismotorFor 609 °, lock the left and right angle difference zero and left and right steering column stiffness, calculate the system angle difference first:
Δθsys,now = 30° - 609°/ 21 = 1°；
3.1. the system rotation angle difference is corrected because of Δ θsys,now > ΔθzeroTherefore, the corrected system angle difference is:
Δθfix = 1°- 0.061°= 0.939°
3.2. calculating the hand strength value:
Test = Δθfix x (Kstiff+ Kstiff’) / 2 = 0.939°x (2.821 Nm/°+ 2.82 Nm/ °) / 2 = 2.65Nm。
the above is a specific implementation process of the hand force calculation of the steering wheel according to the self-learning numerical value.
In summary, the invention provides a method for calculating a substitute steering wheel hand force under the condition of a torque sensor failure, which mainly solves the problem of acquiring the steering wheel hand force of an electronic power steering system when the steering wheel torque sensor fails, comprehensively considers the problem that the steering wheel corner zero position and the motor corner zero position are not matched due to abrasion of the electronic power steering system after use, performs continuous self-learning on the system corner difference zero position corresponding to the steering wheel hand force zero positions during left steering and right steering and the steering column rigidity, and performs correction processing on the system corner difference during the steering wheel hand force calculation so as to obtain more accurate steering wheel hand force under the condition of the steering wheel torque sensor failure.
The invention has the following advantages and innovations:
(1) the hand force calculation method of the steering wheel designed by the invention has a self-learning function, and a complicated calibration process is avoided;
(2) the idle stroke problem existing in the steering system and the problem that the transmission system is abraded after the steering system is used for a period of time are considered, the calculation input is corrected, and the accuracy of the hand force of the steering wheel obtained through calculation is improved;
(3) the hand force calculation parameters of the steering wheel are continuously learned when the torque sensor fails, the hand force value of the steering wheel is consistent with that of the steering wheel when the torque sensor fails, and the hand feeling consistency of the electronic steering power-assisted system is guaranteed to a certain extent when the torque sensor fails.
Claims (8)
1. A hand force calculation method of a steering wheel when a torque sensor fails is characterized in that: the calculation is carried out according to the following steps:
step 1: the rotation angle of the motor is converted into the corresponding rotation angle of the steering wheel, which is recorded as theta, based on the transmission ratio between the power-assisted motor and the steering wheel in the electric power-assisted steering systemstr,motor；
Step 2: judging the working state of the torque sensor, if the torque sensor works normally, entering the step 3, and if the torque sensor is judged to have a fault, entering the step 8;
and step 3: recording steering wheel hand force value T given by torque sensorhand,senAnd recording the system rotation angle difference delta theta corresponding to the hand force value of the steering wheelsys；
And 4, step 4: the T recorded in the step 3hand,senAnd Δ θsysDividing the steering system into four recording areas according to the relationship between the rotation angle difference and the torque, and recording the four recording areas as Tzone1~Tzone4And Δ θzone1~Δθzone4；
And 5: continuously recording the hand strength and the system angle difference of the steering wheel in the four recording areas in the step 4 in real time, respectively calculating the average value of the hand strength and the corresponding system angle difference of the steering wheel in the four areas in the step, and recording the average value as Tavg,zone,iAnd Δ θavg,zone,i；
Step 6: respectively calculating the system rotation angle difference zero position delta theta when the hand value of the steering wheel is zero when the steering wheel rotates to the left by taking the average value obtained in the step 5 as the basiszeroAnd a system rotation angle difference zero position delta theta when the hand force value of the steering wheel is zero when the steering wheel is rotated to the rightzero', and calculates steering column stiffness K when turning the steering wheel to the leftstiffAnd steering column stiffness K when steering wheel is turned to the rightstiff’；
And 7: step 1-6 are repeated, so that the system rotation angle difference zero position delta thetazeroAnd Δ θzero' and steering column stiffness KstiffAnd Kstiff' obtaining real-time continuous optimization;
and 8: locking the zero position delta theta of the system rotation angle difference when the current steering to the left is carried outzero,leftAnd system angle difference zero delta theta in right-hand steeringzero,rightAnd left and right steering stiffness Kstiff、Kstiff', then calculates a steering column rigidity learning value Kstiff,avgSaid learning value K of steering column stiffnessstiff,avgIs left steering stiffness and right steering stiffness Kstiff、Kstiff' average value after locking due to failure of the hand force sensor;
and step 9: at the current system angle difference delta thetasys,nowFor the input values, the system angle difference Delta theta after correction of the vacancy shift is calculatedfix；
Step 10: delta theta obtained according to step 9fixAnd K of step 8stiff,avgAnd calculating the hand force T of the steering wheel when the torque sensor failsest。
2. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: step 1, converting the rotation angle of the motor into correspondenceThe conversion formula of the steering wheel angle is as follows:
wherein, thetastr,motorSteering wheel angle k obtained by conversionsysFor the transmission ratio of steering wheel to booster motor in electric power steering systems, thetamotorIs the motor rotation angle.
3. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: t in step 4zone1~Tzone4And Δ θzone1~Δθzone4The differentiation of (1) is as follows: according to the angle difference-moment relation of the steering system, in +/-Tdead、±TmidAs a reference:
(1) when T ishand,sen＞TmidWhen, Thand,senIs marked as Tzone1，ΔθsysIs recorded as Delta thetazone1；
(2) When T ismid＞Thand,sen＞TdeadWhen, Thand,senIs marked as Tzone2，ΔθsysIs recorded as Delta thetazone2；
(3) When is-Tdead＞Thand,sen＞-TmidWhen, Thand,senIs marked as Tzone3，ΔθsysIs recorded as Delta thetazone3；
(4) When T ishand,sen＜-TmidWhen, Thand,senIs marked as Tzone4，ΔθsysIs recorded as Delta thetazone4；TdeadIs a hand force dead zone of the steering wheel, TmidThe middle value of the hand force of the steering wheel.
4. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: in step 5
；
(ii) a Wherein i is 1,2,3,4, which respectively correspond to the 4 areas distinguished in the step 4, N is the number of data recorded in the ith area, and T isavg,zone,iIs the average value of the steering wheel hand force in the i-th zone, Delta thetaavg,zone,iThe average value of the system rotation angle difference corresponding to the hand force of the steering wheel in the ith area is obtained.
5. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: in step 6
In the above formula, Tavg,zone,1Is the average of the steering wheel hand force, Δ θ, in zone 1avg,zone,1Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 1 st area, Tavg,zone,2Is the average value of the steering wheel hand force in the 2 nd zone, Δ θavg,zone,2Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 2 nd area, Tavg,zone,3Is the average value of steering wheel hand force in zone 3, Δ θavg,zone,3Is the average value of the system angle difference corresponding to the hand force of the steering wheel in the 3 rd zone, Tavg,zone,4Is the average value of steering wheel hand force in zone 4, Δ θavg,zone,4System angle difference corresponding to hand force of steering wheel in 4 th areaAverage value of (a).
6. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: the real-time optimization formula of the system rotation angle difference zero position in the step 7 is
Wherein y is a zero value of system rotation angle difference optimized in real time, yoldAs old value of system angle difference zero, ynewAlpha is a filter coefficient smaller than 1 and larger than 0 and is the current value of the zero position of the system rotation angle difference; the real-time optimization formula of the rigidity of the steering column is
Wherein x is the steering column stiffness optimized in real time, xoldOld value of steering column stiffness, xnewIs the current value of steering column stiffness.
7. The method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: delta theta in step 9fixThe calculation method of (2) is as follows:
8. the method for calculating the hand force of the steering wheel when the torque sensor fails according to claim 1, wherein the method comprises the following steps: in step 10
。
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| CN201910825632.4A Active CN112441114B (en) | 2019-09-03 | 2019-09-03 | Method for calculating hand force of steering wheel when torque sensor fails |
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| JP7234962B2 (en) * | 2020-02-11 | 2023-03-08 | トヨタ自動車株式会社 | Steering device and steering system provided with it |
| CN117485427B (en) * | 2024-01-03 | 2024-04-09 | 博世汽车转向系统（济南）有限公司 | Universal joint compensation method for steering system, corresponding compensation system and steering system |
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| CN101565043A (en) * | 2008-04-25 | 2009-10-28 | 福特全球技术公司 | Yaw stability control system |
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| JP6249145B2 (en) * | 2015-10-08 | 2017-12-20 | 日本精工株式会社 | Steering angle detection device for vehicle and electric power steering device equipped with the same |
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