CN114919644B - Control and adjustment system and method for electric power steering, automobile and medium - Google Patents
Control and adjustment system and method for electric power steering, automobile and medium Download PDFInfo
- Publication number
- CN114919644B CN114919644B CN202210683788.5A CN202210683788A CN114919644B CN 114919644 B CN114919644 B CN 114919644B CN 202210683788 A CN202210683788 A CN 202210683788A CN 114919644 B CN114919644 B CN 114919644B
- Authority
- CN
- China
- Prior art keywords
- motor
- control unit
- control
- micro
- electric power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Landscapes
- 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
The invention discloses a control and adjustment system, a method, an automobile and a medium for electric power steering, which are characterized in that sampling torque sampled by a received torque sensor is compared with preset torque calculated in a micro control unit through a PI motor controller to obtain a deviation value, the deviation value is calculated to obtain a motor control amount for controlling a motor, after the motor is controlled through the motor control amount, the actual torque returned by the motor is received and returned to the PI controller to generate another deviation value, and the motor control amount output to the motor is adjusted in a reciprocating cycle mode, so that real-time adjustment of the motor control amount is completed under the condition that matching adjustment with a supplier is not needed, an adjustment period is shortened, and the adaptation and adjustment of electric control parameters of the automobile through electric power steering can meet the production requirements of quick adjustment and quick mass production.
Description
Technical Field
The present invention relates to the field of automotive chassis technologies, and in particular, to a control and adjustment system for electric power steering, a control and adjustment method for electric power steering, an automobile, and a computer readable storage medium.
Background
The electric power steering is a development direction of an automobile steering system, when an automobile manufacturer adapts and adjusts electric control parameters of an automobile through the electric power steering, data feedback such as torsion can be obtained in the processes of adjustment and test run of the electric control parameters, but the working principle of the electric power steering and the working coordination mode such as an electronic circuit system are not known, so that real-time adjustment cannot be performed on the electric control quantity of data output such as torsion, and if real-time data adjustment is realized through coordination with a supplier, the process period is long, and the production requirements of quick adjustment and quick mass production cannot be met.
Disclosure of Invention
The invention mainly aims to provide a control and adjustment system for electric power steering, a control and adjustment method for electric power steering, an automobile and a computer readable storage medium, and aims to solve the technical problem that the existing adjustment mode cannot meet the production requirements of quick adjustment and quick mass production when the electric power steering is used for adapting and adjusting electric control parameters of the automobile at present.
In order to achieve the above object, the present invention provides a control and adjustment system for electric power steering, which includes a torque sensor, a micro control unit, a PI motor controller and a motor;
the output end of the torque sensor is connected with the direction input end of the micro-control unit, the PI motor controller is arranged in the micro-control unit, and the micro-control unit interacts with the motor.
Optionally, the control and adjustment system of the electric power steering further comprises a power management protection control unit, a CAN bus, a grid driver, a motor H-bridge circuit and a current sensor;
The power management protection control unit is respectively connected with the torque sensor, the micro control unit, the grid driver and the motor H bridge circuit;
the communication end of the CAN bus is in communication interaction with the communication end of the micro control unit, the input end of the grid driver is connected with the output end of the micro control unit, the output end of the grid driver is connected with the input end of the motor H bridge circuit, the motor H bridge circuit is in interaction with the motor, the current output end of the motor H bridge circuit is connected with the input end of the current sensor, and the output end of the current sensor is connected with the current feedback end of the micro control unit.
The invention also provides a control and adjustment method of the electric power steering, which comprises the following steps:
Forming a preset torque force based on a state machine in the micro control unit, and comparing the preset torque force with the sampling torque force uploaded by the torque sensor to form an offset value sent to the PI motor controller;
Calculating the received deviation value based on the PI motor controller to obtain a motor control quantity which is output to a motor and used for controlling the motor, obtaining an actual torsion based on the motor control quantity, and returning the actual torsion to the state machine;
based on the state machine, comparing the actual torsion with the preset torsion, and executing the step of forming an offset value sent to a PI motor controller so as to control and calibrate the electric power steering.
Optionally, after the step of obtaining the motor control amount that is output to the motor and controls the motor, the method further includes:
The PI motor controller controls the motor based on the motor control quantity, obtains a current feedback value based on a motor H-bridge circuit, and sends the current feedback value to a current sensor.
Optionally, after the step of sending the current feedback value to the current sensor, the method further includes:
Based on the current feedback value uploaded by the current sensor received by the micro control unit, judging whether the control times of the motor are larger than preset control times or not based on the current feedback value;
If the control times of the motor is judged to be greater than the preset control times based on the current feedback value, judging whether the motor meets the preset diagnosis conditions based on the micro control unit;
If the motor meets the preset diagnosis condition based on the micro control unit, disconnecting control connection with the motor based on the micro control unit, and entering a state to be connected;
And based on the state to be connected, calculating a PID control algorithm on the received electric power assisting parameter through an electronic control unit, and sending the motor control parameter to the micro control unit after obtaining the motor control parameter so that the micro control unit is in control connection with the motor.
Optionally, after the step of determining whether the control frequency of the motor is greater than the preset control frequency based on the current feedback value, the method further includes:
And if the control times of the motor are smaller than the preset control times based on the current feedback value, judging that the motor has no fault processing requirement.
Optionally, after the step of determining whether the motor meets the preset diagnostic condition based on the micro control unit, the method further includes:
and if the motor is judged to be not in accordance with the preset diagnosis condition based on the micro-control unit, controlling the motor to enter an initialization state based on the micro-control unit so as to initialize the motor control quantity of the motor.
Optionally, the step of calculating the PID control algorithm by the electronic control unit on the received electric power assisting parameter to obtain the motor control parameter includes:
after the electronic control unit receives the electric power assisting parameters, a corresponding compensation table and a compensation coefficient table are generated based on the PID control algorithm, wherein the electric power assisting parameters comprise speed-following power assisting, friction compensation, damping compensation, inertia compensation, active correction and/or current basic values;
According to the angular velocity uploaded by the torque sensor and the vehicle speed uploaded by the CAN bus, performing correlation comparison on the angular velocity and the vehicle speed, and performing table lookup on the compensation table and the compensation coefficient table based on the correlation comparison result to perform linear interpolation to obtain a compensation value and a compensation coefficient;
And calculating the compensation value and the compensation coefficient based on the electronic control unit to obtain the motor control parameter.
In addition, in order to achieve the above object, the present invention provides an automobile, including a control tuning system for electric power steering, a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the control tuning method for electric power steering.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the control tuning method of electric power steering described above.
The invention provides a control and adjustment method of electric power steering, which is characterized in that when an electric power steering is used for carrying out adaptation and adjustment on electric control parameters of an automobile, a PI motor controller in an electric power steering system is used for comparing torque uploaded by a received torque sensor with torque calculated and generated by a micro control unit, so as to obtain a deviation value at the moment, meanwhile, the PI controller is used for calculating based on the deviation value, so as to obtain a motor control quantity used for carrying out output control on a motor, after the motor is controlled by the motor control quantity, the actual torque returned by the motor is received and is returned to the PI controller, another deviation value is generated, and the step of reciprocating circulation is used for carrying out control and adjustment on the motor control quantity output to the motor, so that the adjustment cycle is shortened under the condition that the matching and adjustment on the electric control parameters of the automobile are not needed by a supplier, and the requirements of quick speed adjustment and quick mass production can be met.
Drawings
FIG. 1 is a schematic diagram of a terminal structure of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram showing the connection of components of a control and adjustment system for electric power steering according to the present invention;
FIG. 3 is a flow chart of an embodiment of a control and adjustment system for electric power steering according to the present invention;
fig. 4 is a schematic diagram illustrating a subsequent process of step S30 in fig. 3.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main solutions of the embodiments of the present invention are: forming a preset torque force based on a state machine in the micro control unit, and comparing the preset torque force with the sampling torque force uploaded by the torque sensor to form an offset value sent to the PI motor controller; calculating the received deviation value based on the PI motor controller to obtain a motor control quantity which is output to the motor to control the motor, obtaining an actual torque based on the motor control quantity, and returning the actual torque to the state machine; based on the state machine, the actual torque force is compared with the preset torque force, and the step of forming the deviation value sent to the PI motor controller is executed so as to control and calibrate the electric power steering.
Because the current automobile manufacturer does not know the working principle of the electric power steering and the working coordination modes of an electronic circuit system and the like, the electric control quantity of data output such as torsion and the like cannot be regulated in real time, if the electric control quantity is matched with a supplier to realize real-time data price regulation, the flow period is longer, and the production requirements of quick regulation and quick mass production cannot be met
The invention provides a solution, which realizes real-time adjustment of the motor control quantity without matching adjustment with a supplier, shortens the adjustment period, and ensures that the adaptation and adjustment of the electric control parameters of the automobile through the electric power steering can meet the production requirements of quick adjustment and quick mass production.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.
The application carrier of the control and adjustment system for electric power steering in the embodiment of the invention is an automobile, as shown in fig. 1, the automobile may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the car may also include cameras, RF (Radio Frequency) circuits, sensors, audio circuits, wiFi modules, and the like. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile terminal is stationary, and the mobile terminal can be used for recognizing the gesture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the automobile structure shown in FIG. 1 is not limiting of the automobile and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a computer program may be included in the memory 1005, which is a type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a computer program stored in the memory 1005 and perform the following operations:
Forming a preset torque force based on a state machine in the micro control unit, and comparing the preset torque force with the sampling torque force uploaded by the torque sensor to form an offset value sent to the PI motor controller; calculating the received deviation value based on the PI motor controller to obtain a motor control quantity which is output to a motor and used for controlling the motor, obtaining an actual torsion based on the motor control quantity, and returning the actual torsion to the state machine; based on the state machine, comparing the actual torsion with the preset torsion, and executing the step of forming an offset value sent to a PI motor controller so as to control and calibrate the electric power steering.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
After the step of obtaining the motor control quantity which is output to the motor and used for controlling the motor, the PI motor controller is used for controlling the motor based on the motor control quantity, acquiring a current feedback value based on a motor H-bridge circuit and sending the current feedback value to a current sensor.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
After the step of sending the current feedback value to the current sensor, receiving the current feedback value uploaded by the current sensor based on the micro control unit, and judging whether the control frequency of the motor is greater than a preset control frequency based on the current feedback value;
If the control times of the motor is judged to be greater than the preset control times based on the current feedback value, judging whether the motor meets the preset diagnosis conditions based on the micro control unit;
If the motor meets the preset diagnosis condition based on the micro control unit, disconnecting control connection with the motor based on the micro control unit, and entering a state to be connected;
And based on the state to be connected, calculating a PID control algorithm on the received electric power assisting parameter through an electronic control unit, and sending the motor control parameter to the micro control unit after obtaining the motor control parameter so that the micro control unit is in control connection with the motor.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
after the step of judging whether the control times of the motor is greater than the preset control times based on the current feedback values, if the control times of the motor are less than the preset control times based on the current feedback values, judging that the motor has no fault processing requirement.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
after the step of judging whether the motor meets the preset diagnosis conditions or not based on the micro control unit, if the motor does not meet the preset diagnosis conditions based on the micro control unit, the motor is controlled to enter an initialization state based on the micro control unit so that the motor control quantity of the motor is initialized.
Further, the processor 1001 may call a computer program stored in the memory 1005, and further perform the following operations:
The step of calculating the PID control algorithm for the received electric power assisting parameters through the electronic control unit to obtain motor control parameters comprises the following steps: after the electronic control unit receives the electric power assisting parameters, a corresponding compensation table and a compensation coefficient table are generated based on the PID control algorithm, wherein the electric power assisting parameters comprise speed-following power assisting, friction compensation, damping compensation, inertia compensation, active correction and/or current basic values;
According to the angular velocity uploaded by the torque sensor and the vehicle speed uploaded by the CAN bus, performing correlation comparison on the angular velocity and the vehicle speed, and performing table lookup on the compensation table and the compensation coefficient table based on the correlation comparison result to perform linear interpolation to obtain a compensation value and a compensation coefficient;
And calculating the compensation value and the compensation coefficient based on the electronic control unit to obtain the motor control parameter.
Referring to fig. 2, the present invention provides a control and regulation system of electric power steering, which includes a torque sensor, a micro control unit, a PI motor controller, and a motor;
the output end of the torque sensor is connected with the direction input end of the micro-control unit, the output end of the micro-control unit is connected with the input end of the PI motor controller, the PI motor controller is arranged in the micro-control unit, and the micro-control unit interacts with the motor.
The torque sensor is used for detecting steering wheel operation on an automobile, when the automobile is ignited or electrified, the user steering wheel is operated, the torque sensor can detect steering of the steering wheel and steering magnitude (namely torsion), after the torque sensor transmits steering and sampling torsion to the micro-control unit after filtering, the micro-control unit can convert the steering and sampling torsion into corresponding torque voltage signals, steering signals and vehicle speed signals, the sampling torsion is compared with preset torsion formed by calculation of an internal state machine, and after a deviation value is generated, the torque voltage signals, the steering signals, the vehicle speed signals and the deviation value are transmitted to a PI motor controller in the micro-control unit through an output end, so that the PI motor controller calculates the steering and deviation value based on the signals and the deviation value, and corresponding motor control quantity is generated to control a motor.
Meanwhile, after the motor receives the motor control quantity uploaded by the PI motor controller and runs based on the motor control quantity, the PI motor controller obtains the current rotating speed and the voltage rotating speed of the motor after running based on the motor control quantity, a current feedback value and an actual torsion are formed, the current feedback value and the actual torsion are sent to a current sensor, the current feedback value and the actual torsion are returned to a micro control unit through the current sensor, generation and control of a new round of motor control quantity are carried out, and therefore repeated circulation is achieved, and control and adjustment of the motor control quantity in electric power steering are achieved.
Further, the control and adjustment system of the electric power steering further comprises a power management protection control unit, a CAN (Controller Area Network ) bus, a grid driver, a motor H-bridge circuit and a current sensor;
The power management protection control unit is respectively connected with the torque sensor, the micro control unit, the grid driver and the motor H bridge circuit; the communication end of the CAN bus is in communication interaction with the communication end of the micro control unit, the output end of the grid driver is connected with the input end of the motor H bridge circuit, the motor H bridge circuit is in interaction with the motor, the current output end of the motor H bridge circuit is connected with the input end of the current sensor, and the output end of the current sensor is connected with the current feedback end of the micro control unit.
The power management protection control unit monitors and protects the torque sensor, the micro control unit, the grid driver and the motor H bridge circuit, specifically, after the power management protection control unit activates the torque sensor through the low-voltage power supply and the high-voltage power supply, the torque sensor detects the steering wheel and sends the detected steering wheel torque and steering to the micro control unit, the micro control unit also conducts communication transmission information with the CAN bus and is used for accessing the vehicle speed information through the CAN bus in real time, so that the electric control parameters output to the micro control unit are subjected to real-time adjustment, meanwhile, the micro control unit and the grid driver conduct communication transmission information, the grid driver conducts communication transmission information with the motor H bridge circuit after receiving the transmission information uploaded by the micro control unit, the motor H bridge circuit controls the motor based on the transmission information, meanwhile, the current feedback value of the motor based on the control is obtained, and the current feedback value is returned to the micro control unit through the current sensor.
Besides, the control and regulation system of the electric power steering further comprises EMC (External Memory Controller ), an anti-reverse protection circuit, a relay, a sensor power supply protection circuit and LDO (Laser Designator Operator, low dropout linear regulator).
EMC inserts the speed and the status signal of car, simultaneously carries out supply voltage's control to the relay through preventing anti-protection circuit based on the speed and the status signal of receiving, sensor power supply protection circuit connects between torque sensor and LDO, LDO is connected with preventing anti-protection circuit simultaneously, be used for transmitting ignition and keep the signal, LDO still is connected with little control unit, be used for through the normal circular telegram of LDO band-type brake, little control unit still is connected with the relay, be used for detecting the circuit fault of motor after the circular telegram, after detecting the motor fault, little control unit can cut off the switch of relay through control signal, make the relay stop the power supply to motor H bridge circuit, thereby break off the control connection with the motor.
Referring to fig. 3, an embodiment of the present invention provides a control adjustment method of electric power steering, including:
Step S10, forming a preset torque force based on a state machine in the micro-control unit, and comparing the preset torque force with a sampling torque force uploaded by a torque sensor to form a deviation value sent to a PI motor controller;
firstly, the electric power steering is a steering system on an automobile, the electric power steering is directly used for providing steering power by an electric power booster, namely, a motor, a power steering oil pump, a hose, hydraulic oil, a conveyor belt, a belt pulley arranged on an engine and the like which are necessary for a hydraulic power steering system are omitted, the driving of the electric power steering is based on the motor, the control of the motor is based on the motor control quantity output by an H bridge circuit of the motor, and the motor control quantity is based on the deviation value output by a micro control unit, because the embodiment is based on the continuous updating of the deviation value, the control adjustment of the electric power steering is realized.
The preset torque formed by the state machine is an electric power assisting parameter preset in the electronic control unit by a user, the electric power assisting parameter is calculated by a PID (Proportion INTEGRAL DIFFERENTIAL, proportional integral derivative control) control algorithm, a calculated result, namely a motor control parameter, is sent to the micro control unit, and the motor control parameter is calculated by an internal language of the micro control unit, namely the state machine, so that the preset torque (namely the preset steering size) of the steering wheel is obtained.
It should be noted that the preset torque is only the steering size of the steering wheel estimated based on the motor control parameters, the user operates the steering wheel after powering on or igniting the automobile, the torque sensor at this time samples the torque output after the steering wheel is operated to obtain the sampled torque, and sends the sampled torque to the micro-control unit, and compares the sampled torque with the preset torque, thereby outputting a deviation value, and sends the deviation value to the PI motor controller to calculate the electric control amount.
Step S20, calculating the received deviation value based on the PI motor controller to obtain a motor control quantity which is output to a motor and controls the motor, obtaining an actual torsion based on the motor control quantity, and returning the actual torsion to the state machine through a current sensor;
the PI motor controller receives the deviation value sent by the state machine, the micro control unit also sends signals such as a vehicle speed signal, a steering signal and the like, the PI motor controller calculates the received deviation value and the signals to obtain a motor control amount for controlling the motor, and when the PI motor controller controls the motor based on the motor control amount through the motor H-bridge circuit, the PI motor controller obtains an actual torque of the motor based on the motor control amount at the moment, so that the actual torque is returned to the state machine of the micro control unit, and a new round of deviation value is output based on the calculation of the state machine.
Optionally, after the step of obtaining the motor control amount output to the motor and controlling the motor in step S20, the method further includes:
and S21, the PI motor controller controls the motor based on the motor control quantity, acquires a current feedback value based on a motor H-bridge circuit, and sends the current feedback value to a current sensor.
When the PI motor controller obtains the actual torque of the motor based on the motor control quantity, the current feedback value of the motor at the moment is obtained based on the motor H-bridge circuit, and the current feedback value is sent to the micro-control unit through the current sensor connected with the motor H-bridge circuit for detecting whether the motor has faults.
Optionally, after the step of sending the current feedback value to the current sensor in step S21, the method further includes:
step S22, receiving a current feedback value uploaded by the current sensor based on the micro control unit, and judging whether the control times of the motor are larger than preset control times based on the current feedback value;
When the micro control unit receives the current feedback value based on the current sensor (the PI motor controller performs control based on the motor control amount every time when the PI motor controller performs control on the motor, the PI motor controller obtains an actual torque force and the current feedback value), the current feedback value is compared with the current basic value in the micro control unit, the comparison deviation value and the time are obtained through calibration, when the comparison deviation value exceeds the deviation value for a certain time, the motor at the moment is indicated to have faults, fault detection is required, and whether the control times of the motor are larger than the preset control times or not is judged through the micro control unit, wherein in the embodiment, whether the control times of the motor are larger than 10 times or not is judged.
Optionally, after the step of determining whether the number of control times of the motor is greater than the preset number of control times based on the current feedback value in step S22, the method further includes:
and step A, if the control times of the motor are smaller than the preset control times based on the current feedback value, judging that the motor has no fault processing requirement.
If the micro-control unit judges that the control times of the motor at the moment are smaller than the preset control times, for example, smaller than 10 times, the fault barrier does not exist for controlling the motor at the moment, so that the motor is not required to be subjected to fault processing.
Step S23, if the control times of the motor are larger than the preset control times based on the current feedback value, judging whether the motor meets the preset diagnosis conditions based on the micro control unit;
If the micro-control unit determines that the number of times of controlling the motor is greater than the preset number of times, for example, greater than 10 times, it indicates that there is a fault obstacle for controlling the motor at this time, so that fault processing needs to be performed on the motor, and two operations exist in fault processing, one is to re-initialize the motor control amount, and the other is to re-set the motor control parameters in the micro-control unit.
The motor control amount is data for controlling the motor by the micro control unit, and the motor control parameters are preset by a user in the electronic control unit and are used for comparing with test data generated in a real vehicle test, such as data of actual torsion.
The preset diagnostic condition is whether the motor is in an operating state and whether the operation is permitted at this time.
Optionally, after the step of determining whether the motor meets the preset diagnostic condition based on the micro control unit in step S23, the method further includes:
And step B, if the motor is judged to be not in accordance with the preset diagnosis condition based on the micro control unit, controlling the motor to enter an initialization state based on the micro control unit so as to initialize the motor control quantity of the motor.
If the micro-control unit judges that the motor at the moment is not in a running state and is not allowed to operate, the micro-control unit judges that the motor at the moment is not in accordance with a preset diagnosis condition, and the micro-control unit controls the motor to enter an initialization state through the PI motor controller, namely, the micro-control unit outputs a motor control quantity to the motor for control to initialize.
Step S24, if the motor is judged to be in accordance with the preset diagnosis condition based on the micro control unit, the control connection with the motor is disconnected based on the micro control unit, and the motor enters a state to be connected;
And step S25, based on the state to be connected, calculating a PID control algorithm on the received electric power assisting parameter through an electronic control unit, and after obtaining a motor control parameter, sending the motor control parameter to the micro control unit so that the micro control unit is in control connection with the motor.
If the micro control unit judges that the motor is in the running state and is allowed to operate, the micro control unit judges that the motor meets the preset diagnosis condition, the micro control unit cuts off the power-on state of the relay through the control signal, so that the power supply state of the relay to the PI motor controller is cut off, the PI motor controller in the power-off state loses control connection with the motor, the control connection between the micro control unit and the motor is disconnected, and the micro control unit enters a state to be connected.
Based on the to-be-connected state of the micro control unit, a user sets the electric power assisting parameters on the electronic control unit, calculates the set electric power assisting parameters through a PID control algorithm of the electronic control unit, and accordingly obtains new motor control parameters (after the micro control unit detects that the motor accords with preset diagnosis conditions, after the micro control unit enters the to-be-connected state, the electronic control unit waits for sending the new motor control parameters to cover the original motor control parameters), the new motor control parameters are sent to the micro control unit, so that the micro control unit reestablishes control connection with the motor based on the new motor control parameters, the motor is restored in a power-on-power-off mode again, and then control adjustment is performed on the motor based on the new motor control parameters.
Step S30, based on the state machine, comparing the actual torsion with the preset torsion, and executing a step of forming an offset value sent to a PI motor controller so as to control and calibrate the electric power steering.
After receiving the actual torque returned by the current sensor, the state machine of the internal language of the micro control unit compares the actual torque with the preset torque, outputs a new deviation value, and outputs the new deviation value to a PI motor controller in the micro control unit, so that the PI motor controller generates a new motor control amount, controls the motor based on the motor control amount, and returns the actual torque to the state machine of the internal language of the micro control unit through current transmission after obtaining the new actual torque, and generates a new deviation value again, and reciprocates, continuously generates the new motor control amount to control and calibrate the motor, thereby realizing real-time adjustment of the motor control amount without matching adjustment with a supplier, shortening the adjustment period, and enabling the adaptation and adjustment of the motor control parameter to the automobile through the electric power steering to meet the production requirements of quick adjustment and quick mass production.
In this embodiment, the torque uploaded by the received torque sensor is compared with the torque calculated and generated by the micro control unit through the PI motor controller in the electric power steering system, the deviation value at this time is obtained, meanwhile, the PI controller calculates based on the deviation value, the motor control amount for controlling the output of the motor is obtained, after the motor is controlled by the motor control amount, the actual torque returned by the motor is received, and is returned to the PI controller, another deviation value is generated, the motor control amount output to the motor is adjusted in a reciprocating cycle, so that the real-time adjustment of the motor control amount is completed without matching adjustment with a supplier, the adjustment period is shortened, and the adaptation and adjustment of the electric control parameters of the automobile through electric power steering can meet the production requirements of quick adjustment and quick mass production.
Referring to fig. 4, an embodiment of the present invention provides a control and adjustment method for electric power steering, where the step of obtaining motor control parameters by calculating a PID control algorithm on received electric power parameters by an electronic control unit includes:
step S40, after receiving the electric assistance parameters through the electronic control unit, generating a corresponding compensation table and a compensation coefficient table based on the PID control algorithm, wherein the electric assistance parameters comprise speed-following assistance, friction compensation, damping compensation, inertia compensation, active correction and/or current basic values;
Step S50, carrying out correlation comparison on the angular velocity and the vehicle speed according to the angular velocity uploaded by the torque sensor and the vehicle speed uploaded by the CAN bus, and carrying out table lookup on the compensation table and the compensation coefficient table based on the correlation comparison result to carry out linear interpolation to obtain a compensation value and a compensation coefficient;
And step S60, calculating the compensation value and the compensation coefficient based on the electronic control unit to obtain the motor control parameter.
The electronic control unit is built in the micro control unit and is used for calculating and outputting motor control parameters.
The electronic control unit is used for compiling electric power assisting parameters such as speed-following assisting, friction compensating, damping compensating, inertia compensating, active correcting and/or current basic values into a PID control algorithm, so that a user CAN adaptively set the electric power assisting parameters according to actual demands, and a compensation table and a compensation coefficient table corresponding to the electric power assisting parameters are generated through the PID control algorithm.
Wherein the amplitude limit of the compensation value and the compensation coefficient is + -300, and the positive and negative of the friction force, the damping, the inertia and the active return value are opposite to the positive and negative of the angular velocity.
In the embodiment, the electronic control unit is used for programming the electric power-assisted parameters into the PID control algorithm, so that the comparison between the preset motor control parameters and test data generated in simulation or real vehicle test is realized, the motor control parameters are calculated by the PID control algorithm, and the control adjustment of the electric power-assisted steering and the fault diagnosis of the motor are realized rapidly.
In addition, the embodiment of the invention also provides an automobile, which comprises an electric power steering control and adjustment system, a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the electric power steering control and adjustment method when executing the computer program.
The present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control tuning method of electric power steering described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (4)
1. The control and adjustment method for the electric power steering is characterized by being applied to a control and adjustment system for the electric power steering, wherein the control and adjustment system for the electric power steering comprises a torque sensor, a micro control unit, a PI motor controller and a motor;
The output end of the torque sensor is connected with the direction input end of the micro-control unit, the PI motor controller is arranged in the micro-control unit, and the micro-control unit interacts with the motor;
The control and adjustment system of the electric power steering further comprises a power management protection control unit, a CAN bus, a grid driver, a motor H-bridge circuit and a current sensor;
The power management protection control unit is respectively connected with the torque sensor, the micro control unit, the grid driver and the motor H bridge circuit;
The communication end of the CAN bus is in communication interaction with the communication end of the micro control unit, the input end of the grid driver is connected with the output end of the micro control unit, the output end of the grid driver is connected with the input end of the motor H bridge circuit, the motor H bridge circuit is in interaction with the motor, the current output end of the motor H bridge circuit is connected with the input end of the current sensor, and the output end of the current sensor is connected with the current feedback end of the micro control unit;
the control and adjustment method of the electric power steering comprises the following steps:
Forming a preset torque based on a state machine in the micro control unit, comparing the preset torque with a sampling torque uploaded by the torque sensor to form an offset value sent to the PI motor controller, wherein the preset torque is obtained by calculating an electric power assisting parameter preset in the electronic control unit by a user, sending the calculated motor control parameter to the micro control unit for calculation, and obtaining the preset steering size of the steering wheel, and the sampling torque is obtained by sampling the torque outputted by the steering wheel after the torque sensor is operated;
Calculating the received deviation value based on the PI motor controller to obtain a motor control quantity which is output to the motor and used for controlling the motor, obtaining an actual torsion based on the motor control quantity, and returning the actual torsion to the state machine;
Based on the state machine, comparing the actual torque with the preset torque, and executing a step of forming an offset value sent to the PI motor controller so as to control and calibrate the electric power steering;
after the step of obtaining the motor control amount output to the motor and controlling the motor, the method further comprises the following steps:
the PI motor controller controls the motor based on the motor control quantity, acquires a current feedback value based on the motor H-bridge circuit, and sends the current feedback value to the current sensor;
Based on the current feedback value uploaded by the current sensor received by the micro control unit, judging whether the control times of the motor are larger than preset control times or not based on the current feedback value;
If the control times of the motor is larger than the preset control times based on the current feedback value, judging whether the motor meets preset diagnosis conditions based on the micro control unit, wherein the preset diagnosis conditions are whether the motor is in a running state or not and whether the motor is allowed to operate or not;
If the motor meets the preset diagnosis condition based on the micro control unit, disconnecting control connection with the motor based on the micro control unit, and entering a state to be connected;
Based on the state to be connected, calculating the received electric power assisting parameters through an electronic control unit by using a PID control algorithm, and sending the motor control parameters to the micro control unit after obtaining the motor control parameters so that the micro control unit is in control connection with the motor;
After the step of judging whether the control times of the motor is greater than the preset control times based on the current feedback value, the method further comprises the following steps:
If the control times of the motor are judged to be smaller than the preset control times based on the current feedback value, judging that the motor at the moment has no fault processing requirement;
After the step of judging whether the motor meets the preset diagnosis condition based on the micro control unit, the method further comprises the following steps:
and if the motor is judged to be not in accordance with the preset diagnosis condition based on the micro-control unit, controlling the motor to enter an initialization state based on the micro-control unit so as to initialize the motor control quantity of the motor.
2. The method for controlling and adjusting electric power steering as claimed in claim 1, wherein the step of obtaining the motor control parameter by calculating the PID control algorithm of the received electric power parameter by the electronic control unit comprises:
after the electronic control unit receives the electric power assisting parameters, a corresponding compensation table and a compensation coefficient table are generated based on the PID control algorithm, wherein the electric power assisting parameters comprise speed-following power assisting, friction compensation, damping compensation, inertia compensation, active correction and/or current basic values;
According to the angular velocity uploaded by the torque sensor and the vehicle speed uploaded by the CAN bus, performing correlation comparison on the angular velocity and the vehicle speed, and performing table lookup on the compensation table and the compensation coefficient table based on the correlation comparison result to perform linear interpolation to obtain a compensation value and a compensation coefficient;
And calculating the compensation value and the compensation coefficient based on the electronic control unit to obtain the motor control parameter.
3. An automobile comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the control tuning method of electric power steering of any of claims 1 and 2 when the computer program is executed.
4. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of the control tuning method of electric power steering as claimed in any one of claims 1 and 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210683788.5A CN114919644B (en) | 2022-06-16 | 2022-06-16 | Control and adjustment system and method for electric power steering, automobile and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210683788.5A CN114919644B (en) | 2022-06-16 | 2022-06-16 | Control and adjustment system and method for electric power steering, automobile and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114919644A CN114919644A (en) | 2022-08-19 |
| CN114919644B true CN114919644B (en) | 2024-05-28 |
Family
ID=82815481
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210683788.5A Active CN114919644B (en) | 2022-06-16 | 2022-06-16 | Control and adjustment system and method for electric power steering, automobile and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114919644B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2808488A1 (en) * | 2000-05-08 | 2001-11-09 | Mitsubishi Electric Corp | Automobiles electric motor assisted steering in which an upper limit is fixed for the electric motor current on the basis of a power function of motor current |
| KR100795017B1 (en) * | 2006-07-24 | 2008-01-15 | 주식회사 만도 | How to compensate for tilting of a car |
| JP2008137523A (en) * | 2006-12-04 | 2008-06-19 | Fujitsu Ten Ltd | Characteristics determining method, correction value setting method, and electric power steering control device |
| CN202126594U (en) * | 2011-06-24 | 2012-01-25 | 吉林大学 | Online debugging system for power-assisted steering control parameters |
| KR20130139081A (en) * | 2012-06-12 | 2013-12-20 | 현대자동차주식회사 | Apparatus for compensating friction in mdps system and method thereof |
| CN108674482A (en) * | 2018-05-18 | 2018-10-19 | 北京汽车股份有限公司 | Electric boosting steering system, control method and vehicle |
| WO2021029330A1 (en) * | 2019-08-09 | 2021-02-18 | 日本電産株式会社 | Motorized power steering device, control device used for motorized power steering device, and control method |
| CN113602348A (en) * | 2021-08-27 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Steering power curve adjusting method and device, vehicle and storage medium |
| CN113799867A (en) * | 2020-06-15 | 2021-12-17 | 广州汽车集团股份有限公司 | Method, device and equipment for adjusting electric power steering system and storage medium |
| CN114428494A (en) * | 2022-01-18 | 2022-05-03 | 上汽通用五菱汽车股份有限公司 | PID parameter calibration method, device and medium for whole electric vehicle controller |
-
2022
- 2022-06-16 CN CN202210683788.5A patent/CN114919644B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2808488A1 (en) * | 2000-05-08 | 2001-11-09 | Mitsubishi Electric Corp | Automobiles electric motor assisted steering in which an upper limit is fixed for the electric motor current on the basis of a power function of motor current |
| KR100795017B1 (en) * | 2006-07-24 | 2008-01-15 | 주식회사 만도 | How to compensate for tilting of a car |
| JP2008137523A (en) * | 2006-12-04 | 2008-06-19 | Fujitsu Ten Ltd | Characteristics determining method, correction value setting method, and electric power steering control device |
| CN202126594U (en) * | 2011-06-24 | 2012-01-25 | 吉林大学 | Online debugging system for power-assisted steering control parameters |
| KR20130139081A (en) * | 2012-06-12 | 2013-12-20 | 현대자동차주식회사 | Apparatus for compensating friction in mdps system and method thereof |
| CN108674482A (en) * | 2018-05-18 | 2018-10-19 | 北京汽车股份有限公司 | Electric boosting steering system, control method and vehicle |
| WO2021029330A1 (en) * | 2019-08-09 | 2021-02-18 | 日本電産株式会社 | Motorized power steering device, control device used for motorized power steering device, and control method |
| CN113799867A (en) * | 2020-06-15 | 2021-12-17 | 广州汽车集团股份有限公司 | Method, device and equipment for adjusting electric power steering system and storage medium |
| CN113602348A (en) * | 2021-08-27 | 2021-11-05 | 奇瑞新能源汽车股份有限公司 | Steering power curve adjusting method and device, vehicle and storage medium |
| CN114428494A (en) * | 2022-01-18 | 2022-05-03 | 上汽通用五菱汽车股份有限公司 | PID parameter calibration method, device and medium for whole electric vehicle controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114919644A (en) | 2022-08-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112373455B (en) | Automobile motor braking method, device, equipment and storage medium | |
| JPWO2019087866A1 (en) | Steering control device | |
| CN110843778A (en) | Constant-speed cruise control method, device, equipment and storage medium | |
| US10962970B2 (en) | Vehicle, vehicle control method, vehicle remote operation apparatus, and vehicle remote operation method | |
| KR20210135738A (en) | Apparatus and method for controlling motor driven power steering system of vehicle | |
| CN111037564B (en) | Robot collision detection method, device, equipment and computer readable storage medium | |
| CN114407888B (en) | Lane departure warning method, device, equipment and readable storage medium | |
| US9937956B2 (en) | Driving assistance apparatus and steering control method thereof | |
| US11613303B2 (en) | Turning system | |
| CN114919644B (en) | Control and adjustment system and method for electric power steering, automobile and medium | |
| EP3647569B1 (en) | Vehicle, vehicle control method, vehicle remote operation device, and vehicle remote operation method | |
| CN112918553A (en) | Self-adaptive steering control method and device for vehicle on longitudinal ramp | |
| KR20220144460A (en) | Apparatus and method for controlling motor driven power steering system of vehicle | |
| JP6449723B2 (en) | Fault simulation apparatus and fault simulation method | |
| US20190160665A1 (en) | Control system, machine learning apparatus, maintenance assistance apparatus, data generating method, and maintenance assisting method | |
| CN115092116B (en) | Vehicle power source failure processing method and device, hybrid vehicle and storage medium | |
| CN111583925B (en) | Equipment control method, intelligent equipment and storage medium | |
| CN107491079B (en) | Control method and device for automated guided vehicle and computer readable storage medium | |
| CN112078584B (en) | Method, apparatus and storage medium for managing vehicle driving mode | |
| CN112783142B (en) | Simulation test system, method, equipment and storage medium for lane centering control | |
| JP4019918B2 (en) | Integrated design system for electric power steering system | |
| KR20210157506A (en) | Apparatus and method for controlling motor driven power steering system of vehicle | |
| CN114940208B (en) | Steering assist method, apparatus, device, and computer-readable storage medium | |
| CN114415599B (en) | Servo parameter self-adjusting method, servo driver and computer readable storage medium | |
| CN111055998A (en) | Active control method and device for airplane steering column |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |