A human-machine co-driving electric power steering system and control method based on hybrid theory

Abstract

The invention discloses a man-machine co-driving type electric power steering system based on a hybrid theory and a control method, and belongs to the field of unmanned steering of an intelligent car. The man-machine co-driving type electric power steering system comprises a front torque / angle sensor, a rear torque / angle sensor, a man-machine co-driving type electric power steering hybrid controller, a switching monitoring controller, a steering motor, a steering shaft, a speed reduction mechanism and a gear and rack mechanism. The invention further provides the control method for the man-machine co-driving type electric power steering system based on the hybrid theory, a man-machine co-driving type electric power steering system steering adjustment control system in the optimal operation state is built based on a hybrid switching system, a complex problem in the whole operation project is decomposed into a synthesis of control problems under single work conditions, and therefore complex modeling and control of the man-machine co-driving type electric power steering system are realized. The control system is high in stability, the control method is easy to realize, and different steering conditions of the car can be met.

Description

technical field [0001] The invention belongs to the field of unmanned steering of smart cars, and in particular relates to a human-machine co-driving electric power steering system and a control method based on hybrid theory. Background technique [0002] A smart car is a complex system integrating high-tech in multiple fields such as environmental perception, planning and decision-making, and multi-level assisted driving. The continuous progress of autonomous driving to various road autonomous driving. [0003] The steering conditions of smart cars are complex and changeable, and the steering control of automobiles has high requirements for the control of each working condition. Traditional control strategies cannot take into account the two steering modes (human driving and machine driving) The characteristics of multiple working conditions and the coordination of steering performance requirements under different working conditions; , From the perspective of realization,...

AI Technical Summary

Problems solved by technology

[0003] The steering conditions of smart cars are complex and changeable, and the steering control of automobiles has high requirements for the control of each working condition. Traditional control strategies cannot take into account the two steering modes (human driving and machine driving) The characteristics of multiple working conditions and the coordination of steering performance requirements under different working conditions; , from the perspective of realization, it is necessary to meet the steering performance requirements under multiple working conditions, and to make the design of the controller as simple as possible and easy to implement. The traditional control strategy is difficult to take into account the contradiction between the two

[0004] In addition, due to the coexistence of discrete events and continuous dynamics such as control mode changes caused by external disturbances, parameter changes, and changes in operating conditions of the vehicle, it is determined that the human-machine co-driving electric power steering system is a typical complex dynamic system, while the traditional control strategy It cannot reflect the coexistence of discrete events and continuous dynamics of the human-machine co-driving electric power steering system, the impact of discrete events on continuous dynamic behavior, and the fusion and change of multiple control modes

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