CN115214764B - Steering control method, device, device and readable storage medium - Google Patents

Abstract

The application provides a steering control method, a device and a readable storage medium, wherein the steering control method comprises the following steps: splitting a torque sensor signal into a base frequency band, a first resonant frequency band and a second resonant frequency band; performing basic power-assisted processing on the basic frequency band to obtain a basic power-assisted signal, and performing first frequency band suppression on the first resonance frequency band to obtain a first filtering signal; performing second frequency band suppression on the second resonance frequency band to obtain a second filtering signal; and generating a booster motor command signal according to the basic booster signal, the first filtering signal and the second filtering signal. The torque fluctuation caused by resonance peaks generated by the closed loop of the control circuit of the electric power steering system can be accurately restrained, steering power can be controlled more pertinently through the multidimensional degree of freedom of adjustment, the investment of manpower and material resources in the adjustment process of the electric power steering system is greatly reduced, and the driving hand feeling is effectively improved.

Description

Steering control method, device, device and readable storage medium

technical field

The present application relates to the field of visible light communication, in particular to a steering control method, device, device and readable storage medium.

Background technique

The Electric Power Steering System (hereinafter referred to as EPS system) is an on-demand system, and the motor only works when steering is required. The key technology of the EPS system is the control strategy design centered on road sense tracking. The key to road sense tracking technology is to control the voltage of the motor so that the actual assist torque generated by the motor can track the assist curve designed by assist matching to control the operation of the assist motor.

The steering assist control system has a column-type steering assist mechanical structure and the torque sensor is installed inside the column. The transfer function mode of the steering assist control system can be seen from the dynamic analysis. There are two resonance points in this closed-loop system, which are respectively distributed at about 5-7Hz and 10Hz. -15Hz or so. In such an electric power steering device, a resonance system is formed due to the compositional relationship between mechanical structural components, and torque fluctuations are generated due to these resonance systems, which adversely affects the driver's feel.

Contents of the invention

The present application provides a steering control method, device, device and readable storage medium, which are used to alleviate the torque fluctuation problem caused by the resonance of the electric power steering system and improve the driving feel.

In one aspect, the present application first provides a steering control method comprising:

Splitting the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band;

Perform basic boosting processing on the basic frequency band to obtain a basic boosting signal, perform first frequency band suppression on the first resonance frequency band to obtain a first filtered signal; perform second frequency band suppression on the second resonance frequency band to obtain a second filter signal;

An assist motor instruction signal is generated according to the basic assist signal, the first filtered signal and the second filtered signal.

Optionally, the basic frequency band includes a 0-5 Hz frequency band; and/or, the first resonance frequency band includes a 5-7 Hz frequency band, and/or, the second frequency band includes a 13 Hz-15 Hz frequency band.

Optionally, the step of splitting the torque sensor signal into a fundamental frequency band, a first resonance frequency band and a second resonance frequency band includes:

performing a first low-pass filter on the torque sensor signal to obtain the fundamental frequency band;

performing first bandpass filtering on the torque sensor signal to obtain a first resonant frequency band; and/or, inverting the basic frequency band and superimposing the torque sensor signal to obtain a basic outer frequency band, and performing the basic outer frequency band performing a second low-pass filter to obtain the first resonant frequency band;

performing first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain the second resonant frequency band; resonant frequency band.

Optionally, when the cutoff frequency is set to fc, the first low-pass filtering or the second low-pass filtering is performed according to the following formula:

Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator.

Optionally, the first frequency band suppression or the second frequency band suppression is performed according to the following formula:

Among them, Q _f is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency (from small to large), and s is the Laplacian operator.

Optionally, before the step of performing a first frequency band suppression on the first resonant frequency band to obtain a first filtered signal, and/or performing a second frequency band suppression on the second resonant frequency band to obtain a second filtered signal include:

The first resonance frequency band and/or the suppression frequency pole signal of the second resonance frequency band are preset correlated with the vehicle speed signal and/or the steering wheel rotational speed signal.

On the other hand, the present application also provides a steering control device including: a frequency band splitting unit, a basic booster unit, a first frequency band suppression unit, a second frequency band suppression unit, and a booster motor control unit,

The frequency band splitting unit configured to split the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band is connected to the basic boosting unit, the first frequency band suppressing unit and the second resonant frequency band respectively. Band suppression unit connection;

The basic boosting unit is configured to perform basic boosting processing on the basic frequency band to obtain a basic boosting signal, and the first frequency band suppression unit is configured to perform a first frequency band suppression on the first resonance frequency band to obtain a first filtered signal, the second frequency band suppression unit is configured to perform a second frequency band suppression on the second resonant frequency band to obtain a second filtered signal;

A booster motor control unit respectively connected to the basic booster unit, the first frequency band suppression unit, and the second frequency band suppression unit is configured to generate Power assist motor command signal.

Optionally, the frequency band splitting unit includes a first low-pass filter, a second low-pass filter, a first signal processor, and a second signal processor;

a first low-pass filter connected to the first signal processor, configured to first low-pass filter the torque sensor signal to obtain the fundamental frequency band;

The first signal processor respectively connected to the second low-pass filter and the second signal processor is configured to invert the basic frequency band and superimpose the torque sensor signal to obtain the basic outer frequency band ;

The second low-pass filter is configured to perform a second low-pass filter on the basic outer frequency band to obtain the first resonance frequency band;

The second signal processor is configured to superimpose the first resonant frequency band in anti-phase with a fundamental outer frequency band to obtain the second filtered signal.

Optionally, when the cut-off frequency is set to fc, the first low-pass filter or the second low-pass filter is set according to the following formula:

Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator.

Optionally, the first frequency band suppression or the second frequency band suppression is performed according to the following formula:

Among them, Q _f is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency (from small to large), and s is the Laplacian operator.

Optionally, the frequency band splitting unit includes a first low-pass filter and a first band-pass filter, and the frequency band splitting unit further includes a first high-pass filter or a second band-pass filter;

the first low-pass filter is configured to first low-pass filter the torque sensor signal to obtain the fundamental frequency band;

The first bandpass filter is configured to first bandpass filter the torque sensor signal to obtain a first resonant frequency band;

The first high-pass filter is configured to perform first high-pass filtering on the torque sensor signal, or the second band-pass filter is configured to perform second band-pass filtering on the torque sensor signal to obtain The second resonant frequency band.

Optionally, the first frequency band suppression unit and/or the second frequency band suppression unit is formed by a notch filter.

Optionally, the notch filter is provided with a first input terminal, a second input terminal, a third input terminal and an output terminal; the first input terminal configured to input the frequency band signal to be processed is connected to the frequency band splitter In the sub-unit, the frequency band signal to be processed includes the first resonance frequency band and/or the second resonance frequency band; the second input end is configured to input a vehicle speed signal and/or the third input end is configured to The steering wheel rotation speed signal is input, and the notch filter is configured to output a notch filter signal through the output terminal after pre-correlating the suppression frequency pole signal of the frequency band signal to be processed with the vehicle speed signal and/or the steering wheel rotation speed signal. .

Optionally, the notch filter includes a first pole correlation module, a second pole correlation module and a frequency band correlation module;

The pole input terminal of the first pole correlation module inputs the first suppressed frequency pole signal, the pole input terminal of the first pole correlation module inputs the second suppressed frequency pole signal, and the first input terminal of the frequency band correlation module inputs the Describe the frequency band signal to be processed;

The vehicle speed input terminal of the first pole correlation module and the vehicle speed input terminal of the second pole correlation module input the vehicle speed signal, and/or, the rotational speed input terminal of the first pole correlation module and the second pole correlation module The speed input terminal of the associated module inputs the steering wheel speed signal;

The output terminal of the first pole correlation module outputs the first pole correlation signal to the second input terminal of the frequency band correlation module; the output terminal of the second pole correlation module outputs the second pole correlation signal to the frequency band correlation module the third input terminal;

The output terminal of the frequency band correlation module outputs the notch filter signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal and the second pole correlation signal.

Optionally, the notch filter also includes a third pole correlation module;

The pole input terminal of the third pole correlation module inputs the pole signal of the third suppression frequency band;

The vehicle speed input terminal of the third pole correlation module inputs the vehicle speed signal, and/or, the rotation speed input terminal of the third pole correlation module inputs the steering wheel rotation speed signal;

The output terminal of the third pole correlation module outputs a third pole correlation signal to the fourth input terminal of the frequency band correlation module;

The output end of the frequency band correlation module performs preset correlation on the frequency band signal to be processed, the first pole correlation signal, the second pole correlation signal and the third pole correlation signal, and then outputs the notch filter signal.

On the other hand, the present application also provides a steering control device including a processor and a memory;

said memory stores one or more computer programs;

When the one or more computer programs stored in the memory are executed by the processor, the steering control device is enabled to execute the above method.

Optionally, the processor invokes the computer program according to a preset duration to periodically execute the computer program.

On the other hand, the present application also provides a readable storage medium, specifically, a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the above method are implemented.

As mentioned above, the steering control method, device, device and readable storage medium provided by the present application can accurately suppress the torque fluctuation caused by the resonant peak generated by the closed-loop control loop of the electric power steering system, and through multi-dimensional adjustment degrees of freedom, more Targeted control of power steering greatly reduces the input of manpower and material resources in the adjustment process of the electric steering system, and effectively improves the driving feel.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, the Under the premise, other drawings can also be obtained based on these drawings.

FIG. 1 is a flowchart of a steering control method according to an embodiment of the present application.

Fig. 2 is a flowchart of torque sensor signal splitting according to an embodiment of the present application.

Fig. 3 is a block diagram of a steering control device according to an embodiment of the present application.

FIG. 4 is a schematic diagram of a frequency band splitting unit according to an embodiment of the present application.

FIG. 5 is a simulated Bode diagram of a band suppression transfer function according to an embodiment of the present application.

FIG. 6 is a schematic diagram of a connection relationship of a notch filter according to an embodiment of the present application.

Fig. 7 is a working flow chart of the steering control device according to an embodiment of the present application.

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. By means of the above drawings, specific embodiments of the present application have been shown, which will be described in more detail hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the application in any way, but to illustrate the concept of the application for those skilled in the art by referring to specific embodiments.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the statement "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element. In addition, different implementations of the present application Components, features, and elements with the same name in the example may have the same meaning, or may have different meanings, and the specific meaning shall be determined based on the explanation in the specific embodiment or further combined with the context in the specific embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination". Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising", "comprising" indicate the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not exclude one or more other features, steps, operations, The existence, occurrence or addition of an element, component, item, species, and/or group. The terms "or" and "and/or" as used herein are to be construed as inclusive, or to mean either one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C" . Exceptions to this definition will only arise when combinations of elements, functions, steps or operations are inherently mutually exclusive in some way.

It should be understood that although the various steps in the flow chart in the embodiment of the present application are displayed sequentially as indicated by the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figure may include multiple sub-steps or multiple stages, these sub-steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order is not necessarily sequential Instead, it may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

In the following description, the use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating the description of the present application and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be mixedly used.

The electronic equipment of the user terminal may be implemented in various forms. For example, the user terminals described in this application may include mobile phones, tablet computers, notebook computers, palmtop computers, personal digital assistants (Personal Digital Assistant, PDA), portable media players (Portable Media Player, PMP), navigation devices, portable Mobile terminals such as wearable devices, smart bracelets, and pedometers, and fixed terminals such as digital TVs and desktop computers.

In the subsequent description, a mobile terminal will be taken as an example, and those skilled in the art will understand that, in addition to elements specially used for mobile purposes, the configurations according to the embodiments of the present application can also be applied to fixed-type terminals.

first embodiment

In one aspect, the present application provides a steering control method, and FIG. 1 is a flow chart of the steering control method in an embodiment of the present application.

As shown in Figure 1, in an embodiment, the steering control method includes:

S10: Splitting the torque sensor signal into a fundamental frequency band, a first resonance frequency band and a second resonance frequency band.

In order to accurately suppress each resonant pole in a targeted manner and avoid interference with other irrelevant frequency bands, the torque sensor signal can be split into frequency bands first.

Optionally, the basic frequency band includes a 0-5 Hz frequency band; and/or, the first resonance frequency band includes a 5-7 Hz frequency band, and/or, the second frequency band includes a 13 Hz-15 Hz frequency band.

Usually, a steering assist control system with a column-type steering assist mechanical structure and a torque sensor installed inside the column has a frequency band of 0-5 Hz for operating the steering wheel and useful road feeling information feedback. Through the dynamic analysis of the transfer function mode, there is the first resonance peak of the steering system in the frequency band 5Hz-7Hz, and the second resonance peak exists above 13Hz. It is understandable that the disturbance frequency of uneven road will also transmit unnecessary disturbance information to the controller. In other embodiments, other different resonance peaks may also exist due to other factors.

Fig. 2 is a flowchart of torque sensor signal splitting according to an embodiment of the present application.

Please refer to FIG. 2, optionally, S10: the step of splitting the torque sensor signal into a fundamental frequency band, a first resonance frequency band and a second resonance frequency band includes:

S11: Perform a first low-pass filter on the torque sensor signal to obtain a fundamental frequency band.

S12: Perform first band-pass filtering on the torque sensor signal to obtain the first resonance frequency band; and/or, invert the basic frequency band and superimpose the torque sensor signal to obtain the basic outer frequency band, and perform a second low-pass filter on the basic outer frequency band to obtain the first resonant frequency band.

S13: Perform first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain a second resonant frequency band; and/or, inversely superimpose the first resonant frequency band with the basic outer frequency band to obtain a second resonant frequency band.

Through the different characteristics of the low-pass filter, band-pass filter and high-pass filter, a signal of a complete frequency spectrum can be split into different target frequency bands as required. In other embodiments, other commonly used methods can also be used.

Optionally, when the cut-off frequency is set to fc, the first low-pass filter or the second low-pass filter can be performed according to the following formula:

Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator.

By means of second-order low-pass filtering, the use of notch filters can be reduced in the low-frequency main control loop, and at the same time, the second-order low-pass filter can ensure that the signal of the cutoff frequency is filtered cleanly.

S20: Perform basic boosting processing on the basic frequency band to obtain a basic boosting signal, perform first frequency band suppression on the first resonance frequency band to obtain a first filtered signal; perform second frequency band suppression on the second resonance frequency band to obtain a second filtered signal.

For the basic frequency band, basic boosting processing can be performed in the traditional way. For the frequency band where the split resonant peak is located, targeted suppression processing is required.

Optionally, the first frequency band suppression or the second frequency band suppression can be performed according to the following formula:

Among them, Qf is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency (from small to large), and s is the Laplacian operator.

Simulations of the rejection transfer function show a dip in the gain magnitude at the frequency where the resonant peak is located, indicating that this frequency is being suppressed in a targeted manner.

Optionally, before S20: performing the first frequency band suppression on the first resonant frequency band to obtain the first filtered signal, and/or, before the step of performing the second frequency band suppression on the second resonant frequency band to obtain the second filtered signal may include:

The first resonance frequency band and/or the suppression frequency pole signal of the second resonance frequency band are preset correlated with the vehicle speed signal and/or the steering wheel rotation speed signal.

The introduction of steering wheel speed and vehicle speed variables can avoid torque fluctuations in the same set of notch filter parameters at different vehicle speeds or different steering wheel speeds, making steering torque control better under different working conditions. In an embodiment, the three suppression frequency poles p1, p2 and p3 can be associated with the vehicle speed and the steering wheel rotation speed respectively, and the associated parameter table can be obtained through real vehicle calibration.

S30: Generate a power assist motor command signal according to the basic power assist signal, the first filtered signal and the second filtered signal.

The basic assist signal, the first filtered signal and the second filtered signal respectively represent the signal sources of the three frequency bands in the torque sensor signal. Through the multi-dimensional adjustment freedom, the basic power assist signal, the first filter signal and the second filter signal are superimposed, and the power assist motor command signal is output to drive the steering motor for steering assist, which can accurately suppress the closed-loop generation of the electric power steering system control loop Torque fluctuations caused by formant peaks, and more targeted control of power steering to improve driving feel.

second embodiment

On the other hand, the present application also provides a steering control device, and FIG. 3 is a block diagram of the steering control device according to an embodiment of the present application.

Please refer to FIG. 3 , in an embodiment, the steering control device includes: a frequency band splitting unit 1 , a basic booster unit 2 , a first frequency band suppression unit 3 , a second frequency band suppression unit 4 and a booster motor control unit 5 .

A frequency band splitting unit 1 configured to split the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band is connected to the basic booster unit 2, the first frequency band suppression unit 3 and the second frequency band suppression unit 4, respectively .

The basic boosting unit 2 is configured to perform basic boosting processing on the basic frequency band to obtain a basic boosting signal. The first frequency band suppression unit 3 is configured to perform a first frequency band suppression on the first resonance frequency band to obtain a first filtered signal. The second frequency band suppression unit 4 is configured to perform a second frequency band suppression on the second resonance frequency band to obtain a second filtered signal.

The booster motor control unit 5 connected to the basic booster unit 2, the first frequency band suppression unit 3, and the second frequency band suppression unit 4 is configured to generate a booster motor command signal according to the basic booster signal, the first filter signal and the second filter signal .

In order to accurately suppress each resonant pole in a targeted manner and avoid interference with other irrelevant frequency bands, the torque sensor signal can be split into frequency bands first. For the basic frequency band, basic boosting processing can be performed in the traditional way. For the frequency band where the split resonant peak is located, targeted suppression processing is required. Through the multi-dimensional adjustment freedom, the basic power assist signal, the first filter signal and the second filter signal are superimposed, and the power assist motor command signal is output to drive the steering motor for steering assist, which can accurately suppress the closed-loop generation of the electric power steering system control loop Torque fluctuations caused by formant peaks, and more targeted control of power steering to improve driving feel.

Please continue to refer to FIG. 3. In another embodiment, the steering control device may also include a first high-frequency gain unit 6 connected before the first frequency band suppression unit 3 and a second high frequency gain unit 6 connected before the second frequency band suppression unit 4. Frequency gain unit 7.

FIG. 4 is a schematic diagram of a frequency band splitting unit according to an embodiment of the present application.

Referring to FIG. 4 , optionally, the frequency band splitting unit includes a first low-pass filter 11 , a second low-pass filter 12 , a first signal processor 13 , and a second signal processor 14 .

The first low-pass filter 11 connected to the first signal processor 13 is configured to first low-pass filter the torque sensor signal to obtain a fundamental frequency band.

The first signal processor 13 connected to the second low-pass filter 12 and the second signal processor 14 respectively is configured to invert the basic frequency band and superimpose the torque sensor signal to obtain the basic external frequency.

The second low-pass filter 12 is configured to perform a second low-pass filter on the basic outer frequency band to obtain the first resonant frequency band, and the second signal processor 14 is configured to inversely superimpose the first resonant frequency band with the basic outer frequency band to obtain the second resonant frequency band.

A low-pass filter is an electronic filtering device that allows signals below the cutoff frequency to pass, but signals above the cutoff frequency cannot pass through. The low-pass filter can effectively filter the frequency band signal higher than the cutoff frequency. By inverting the signal of a specific frequency band and superimposing it with the original complete frequency band signal, other frequency band signals other than the specific frequency band can be obtained. In another embodiment, a band-pass filter may also be used instead of a low-pass filter to obtain signals of a specific frequency band.

Optionally, when the cut-off frequency is set to fc, the first low-pass filter 11 or the second low-pass filter 12 is set according to the following formula:

Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator.

By means of second-order low-pass filtering, the use of notch filters can be reduced in the low-frequency main control loop, and at the same time, the second-order low-pass filter can ensure that the signal of the cutoff frequency is filtered cleanly.

Optionally, the frequency band splitting unit includes a first low-pass filter and a first band-pass filter, and the frequency band splitting unit further includes a first high-pass filter or a second band-pass filter;

The first low-pass filter is configured to first low-pass filter the torque sensor signal to obtain the fundamental frequency band;

The first band-pass filter is configured to first band-pass filter the torque sensor signal to obtain a first resonant frequency band;

The first high-pass filter is configured to perform first high-pass filtering on the torque sensor signal, or, the second band-pass filter is configured to perform second band-pass filtering on the torque sensor signal to obtain a second resonance frequency band.

A low-pass filter is an electronic filtering device that allows signals below the cutoff frequency to pass, but signals above the cutoff frequency cannot pass through. The low-pass filter can effectively filter the frequency band signal higher than the cutoff frequency. A bandpass filter refers to a filter that can pass frequency components in a certain frequency range, but attenuate frequency components in other ranges to an extremely low level. It is a device that allows waves in a specific frequency band to pass while shielding other frequency bands. A high-pass filter, also known as a low-cut filter or a low-cut filter, allows frequencies higher than a certain cut-off frequency to pass, while greatly attenuating lower frequencies, which can filter unnecessary low-frequency components in the signal or remove low-frequency signals.

Optionally, the first frequency band suppression or the second frequency band suppression is performed according to the following formula:

Among them, Q _f is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency (from small to large), and s is the Laplacian operator.

FIG. 5 is a simulated Bode diagram of a band suppression transfer function according to an embodiment of the present application.

Please refer to Figure 5. According to the above formula, the simulation of the rejection transfer function shows that there is a trough in the gain amplitude at the frequency where the resonance peak is located, indicating that the frequency here is suppressed in a targeted manner. Optionally, the first frequency band suppression unit and/or the second frequency band suppression unit may be composed of a notch filter or other frequency suppression devices.

third embodiment

In an embodiment, the first frequency band suppression unit and/or the second frequency band suppression unit may be formed by a notch filter. Optionally, the notch filter is provided with a first input terminal, a second input terminal, a third input terminal and an output terminal.

The first input end configured to input the frequency band signal to be processed is connected to the frequency band splitting unit, and the frequency band signal to be processed includes the first resonant frequency band and/or the second resonant frequency band.

The second input end is configured to input a vehicle speed signal, and/or, the third input end is configured to input a steering wheel rotation speed signal.

The notch filter is configured to output a notch filter signal through the output terminal after preset correlation of the suppressed frequency pole signal of the frequency band signal to be processed with the vehicle speed signal and/or the steering wheel rotation speed signal. Among them, the preset association relationship can be obtained through real vehicle calibration.

The notch filter can restore the lagged phase, further reduce the vibration of the steering torque, and improve the stability of the system. Different vehicle speeds and different steering wheel rotation speeds may cause different disturbances to the power steering. In the process of suppressing the resonance peak frequency pole, correlating and referring to the vehicle speed signal and the steering wheel speed signal can increase the stability of the power steering system.

FIG. 6 is a schematic diagram of a connection relationship of a notch filter according to an embodiment of the present application.

Please refer to FIG. 6 , optionally, the notch filter includes a first pole correlation module 501 , a second pole correlation module 502 and a frequency band correlation module 503 .

The pole input terminal of the first pole correlation module 501 inputs the first suppressed frequency pole signal p1, and the pole input terminal of the first pole correlation module 501 inputs the second suppressed frequency pole signal p2. The frequency band signal T to be processed is input to the first input terminal of the frequency band correlation module 503 .

The vehicle speed input terminal of the first pole correlation module 501 and the vehicle speed input terminal of the second pole correlation module 502 input the vehicle speed signal S, and/or, the speed input terminal of the first pole correlation module 501 and the speed input of the second pole correlation module 502 Terminal input steering wheel speed signal W.

The output terminal of the first pole correlation module 501 outputs the first pole correlation signal to the second input terminal of the frequency band correlation module 503 . The output terminal of the second pole correlation module 502 outputs the second pole correlation signal to the third input terminal of the frequency band correlation module 503 .

The output terminal of the frequency band correlation module 503 performs preset correlation on the frequency band signal T to be processed, the first pole correlation signal and the second pole correlation signal, and then outputs a notch filter signal.

By associating each suppression frequency pole with the vehicle speed and the steering wheel rotation speed, the stability effect of the power steering control system under different working conditions can be improved.

Please continue to refer to FIG. 6 , optionally, the notch filter further includes a third pole correlation module 504 . The pole input terminal of the third pole correlation module 504 inputs the pole signal p3 of the third suppressed frequency band.

The vehicle speed signal S is input to the vehicle speed input terminal of the third pole correlation module 504 , and/or the steering wheel rotation speed signal W is input to the rotation speed input terminal of the third pole correlation module 504 .

The output terminal of the third pole correlation module 504 outputs the third pole correlation signal to the fourth input terminal of the frequency band correlation module 503 .

The output terminal of the frequency band correlation module 503 performs preset correlation on the frequency band signal T to be processed, the first pole-related signal, the second pole-related signal and the third pole-related signal to output a notch filter signal.

By adding the pole of the third suppression frequency band, the high frequency band can be further suppressed, avoiding the interference of the high frequency interference signal on the steering torque, and enhancing the stability of the system.

Fourth embodiment

On the other hand, the present application also provides a steering control device.

In an embodiment, a steering control device includes a processor and a memory.

The memory stores one or more computer programs. When the one or more computer programs stored in the memory are executed by the processor, the steering control device is enabled to execute the above-mentioned steering control method.

For the technical details involved in the process of implementing the steering control method by the steering control device, please refer to the above embodiments, and details will not be repeated here.

Fig. 7 is a working flow chart of the steering control device according to an embodiment of the present application.

Please refer to FIG. 7, optionally, the steering control device workflow includes the following steps:

S100: Identify the torque sensor. Go to step S200.

S200: Receive a vehicle speed signal. Go to step 300 .

S300: Assist torque calculation. Go to step 400 .

S400: Motor current control.

Optionally, the processor invokes the computer program according to a preset duration to periodically execute the computer program.

Optionally, the steering control process is executed every 500 us according to the measured needs of the vehicle steering work.

fifth embodiment

On the other hand, the present application also provides a readable storage medium. Specifically, a computer program is stored on the readable storage medium, and when the computer program is executed by the processor, the steps of the above steering control method are realized.

For the technical details involved in the process of implementing the steering control method by the computer program, please refer to the above embodiments, and details will not be repeated here.

As mentioned above, the steering control method, device, device and readable storage medium provided by the present application can accurately suppress the torque fluctuation caused by the resonant peak generated by the closed-loop control loop of the electric power steering system, and through multi-dimensional adjustment degrees of freedom, more Targeted control of power steering greatly reduces the input of manpower and material resources in the adjustment process of the electric steering system, and effectively improves the driving feel.

In this article, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in specific situations.

In this article, the sequence adjectives "first", "second", etc. used to describe elements are only used to distinguish elements with similar attributes, and do not mean that the elements described in this way must be in a given order, or in time, space, class or other restrictions.

In this article, unless otherwise specified, the meanings of "plurality" and "several" are two or more.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the The steps of the above method embodiments are included. The foregoing storage medium includes: various media capable of storing program codes such as ROM, RAM, magnetic disk or optical disk.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should be covered within the protection scope of this application. Therefore, the protection scope of the present application should be determined by the protection scope of the claims.

Claims (14)

1. A steering control method, characterized in that, comprising: Splitting the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band; Perform basic boosting processing on the basic frequency band to obtain a basic boosting signal, perform first frequency band suppression on the first resonance frequency band to obtain a first filtered signal; perform second frequency band suppression on the second resonance frequency band to obtain a second filter signal; generating a booster motor command signal according to the basic booster signal, the first filtered signal and the second filtered signal; The step of splitting the torque sensor signal into a basic frequency band, a first resonant frequency band and a second resonant frequency band includes: performing a first low-pass filter on the torque sensor signal to obtain the fundamental frequency band; performing first bandpass filtering on the torque sensor signal to obtain a first resonant frequency band; and/or, inverting the basic frequency band and superimposing the torque sensor signal to obtain a basic outer frequency band, and performing the basic outer frequency band performing a second low-pass filter to obtain the first resonant frequency band; performing first high-pass filtering or second band-pass filtering on the torque sensor signal to obtain the second resonant frequency band; resonant frequency band; When the cut-off frequency is set to fc, perform the first low-pass filter or the second low-pass filter according to the following formula: Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator. 2. The steering control method according to claim 1, wherein the basic frequency band includes a 0-5Hz frequency band; and/or, the first resonance frequency band includes a 5-7Hz frequency band, and/or, the first The second frequency band includes the 13Hz-15Hz frequency band. 3. The steering control method according to claim 1, wherein the first frequency band suppression or the second frequency band suppression is carried out according to the following formula: Among them, Q _f is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency respectively, and s is the Laplacian operator. 4. The steering control method according to any one of claims 1-3, wherein the first frequency band suppression is performed on the first resonance frequency band to obtain a first filter signal, and/or, the Before the second resonant frequency band suppresses the second frequency band to obtain the second filtered signal, the steps include: The first resonance frequency band and/or the suppression frequency pole signal of the second resonance frequency band are preset correlated with the vehicle speed signal and/or the steering wheel rotational speed signal. 5. A steering control device, characterized in that it comprises: a frequency band splitting unit, a basic booster unit, a first frequency band suppression unit, a second frequency band suppression unit and a booster motor control unit, The frequency band splitting unit configured to split the torque sensor signal into a fundamental frequency band, a first resonant frequency band and a second resonant frequency band is connected to the basic boosting unit, the first frequency band suppressing unit and the second resonant frequency band respectively. Band suppression unit connection; The basic boosting unit is configured to perform basic boosting processing on the basic frequency band to obtain a basic boosting signal, and the first frequency band suppression unit is configured to perform a first frequency band suppression on the first resonance frequency band to obtain a first filtered signal, the second frequency band suppression unit is configured to perform a second frequency band suppression on the second resonant frequency band to obtain a second filtered signal; A booster motor control unit respectively connected to the basic booster unit, the first frequency band suppression unit, and the second frequency band suppression unit is configured to generate Power boost motor command signal; The frequency band splitting unit includes a first low-pass filter, a second low-pass filter, a first signal processor, and a second signal processor; a first low-pass filter connected to the first signal processor, configured to first low-pass filter the torque sensor signal to obtain the fundamental frequency band; The first signal processor respectively connected to the second low-pass filter and the second signal processor is configured to invert the basic frequency band and superimpose the torque sensor signal to obtain the basic outer frequency band ; The second low-pass filter is configured to perform a second low-pass filter on the basic outer frequency band to obtain the first resonance frequency band; The second signal processor is configured to superimpose the first resonant frequency band in reverse phase with a basic outer frequency band to obtain the second resonant frequency band; When the cut-off frequency is set to fc, set the first low-pass filter or the second low-pass filter according to the following formula: Wherein, G is a filter transfer function, ∈ is an attenuation coefficient, ω _c =2*Π*fc, and s is a Laplacian operator. 6. The steering control device according to claim 5, wherein the first frequency band suppression or the second frequency band suppression is performed according to the following formula: Among them, Q _f is the frequency band rejection transfer function, is the damping ratio of the molecule, ω _n is the undamped oscillation frequency of the molecule, p1, p2 and p3 are the poles of the suppression frequency respectively, and s is the Laplacian operator. 7. The steering control device according to claim 5, wherein the frequency band splitting unit includes a first low-pass filter and a first band-pass filter, and the frequency band splitting unit also includes a first high-pass filter device or a second bandpass filter; the first low-pass filter is configured to first low-pass filter the torque sensor signal to obtain the fundamental frequency band; The first bandpass filter is configured to first bandpass filter the torque sensor signal to obtain a first resonant frequency band; The first high-pass filter is configured to perform first high-pass filtering on the torque sensor signal, or the second band-pass filter is configured to perform second band-pass filtering on the torque sensor signal to obtain The second resonant frequency band. 8. The steering control device according to any one of claims 5-7, characterized in that, the first frequency band suppression unit and/or the second frequency band suppression unit is composed of a notch filter. 9. The steering control device according to claim 8, wherein the notch filter is provided with a first input terminal, a second input terminal, a third input terminal and an output terminal; it is configured to input the frequency band to be processed The first input end of the signal is connected to the frequency band splitting unit, and the frequency band signal to be processed includes the first resonant frequency band and/or the second resonant frequency band; the second input end is configured to input vehicle speed signal and/or the third input terminal is configured to input a steering wheel rotation speed signal, and the notch filter is configured to pre-predetermine the suppression frequency pole signal of the frequency band signal to be processed with the vehicle speed signal and/or the steering wheel rotation speed signal. After the association is established, the notch filter signal is output through the output terminal. 10. The steering control device according to claim 9, wherein the notch filter comprises a first pole correlation module, a second pole correlation module and a frequency band correlation module; The pole input terminal of the first pole correlation module inputs the first suppressed frequency pole signal, the pole input terminal of the first pole correlation module inputs the second suppressed frequency pole signal, and the first input terminal of the frequency band correlation module inputs the Describe the frequency band signal to be processed; The vehicle speed input terminal of the first pole correlation module and the vehicle speed input terminal of the second pole correlation module input the vehicle speed signal, and/or, the rotational speed input terminal of the first pole correlation module and the second pole correlation module The speed input terminal of the associated module inputs the steering wheel speed signal; The output terminal of the first pole correlation module outputs the first pole correlation signal to the second input terminal of the frequency band correlation module; the output terminal of the second pole correlation module outputs the second pole correlation signal to the frequency band correlation module the third input terminal; The output terminal of the frequency band correlation module outputs the notch filter signal after performing preset correlation on the frequency band signal to be processed, the first pole correlation signal and the second pole correlation signal. 11. The steering control device according to claim 10, wherein the notch filter further comprises a third pole correlation module; The pole input terminal of the third pole correlation module inputs the pole signal of the third suppression frequency band; The vehicle speed input terminal of the third pole correlation module inputs the vehicle speed signal, and/or, the rotation speed input terminal of the third pole correlation module inputs the steering wheel rotation speed signal; The output terminal of the third pole correlation module outputs a third pole correlation signal to the fourth input terminal of the frequency band correlation module; The output end of the frequency band correlation module performs preset correlation on the frequency band signal to be processed, the first pole correlation signal, the second pole correlation signal and the third pole correlation signal, and then outputs the notch filter signal. 12. A steering control device, comprising a processor and a memory; said memory stores one or more computer programs; When the one or more computer programs stored in the memory are executed by the processor, the steering control device is enabled to execute the steering control method according to any one of claims 1 to 4 . 13. The steering control device according to claim 12, wherein the processor invokes the computer program according to a preset time period to periodically execute the computer program. 14. A readable storage medium, characterized in that a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steering control method according to any one of claims 1 to 4 is realized A step of.