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Torque compensation method of power-assisted steering system

A technology of power steering and compensation method, which is applied in the direction of power steering mechanism, steering mechanism, electric steering mechanism, etc. It can solve the problems that it is difficult to balance stability and comfort, and achieve the effect of flexible use and good steering feel

Inactive Publication Date: 2017-12-05
上海拿森汽车电子有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, it is difficult for the second-order torque compensator to take into account both stability and comfort.

Method used

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  • Torque compensation method of power-assisted steering system
  • Torque compensation method of power-assisted steering system
  • Torque compensation method of power-assisted steering system

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0031] The present invention uses a fourth-order torque compensator instead of a second-order torque compensator. The fourth-order torque compensator is also a lead-lag filter, which has the functions of amplitude-frequency gain and phase-frequency compensation, but its use is more flexible. Its discrete expression is as follows:

[0032]

[0033] G sc (z) is a transfer function, and the parameters a1, a2, a3, a4, b0, b1, b2, b3 and b4 are independent filter parameters. The input to this compensation is the raw torque input signal. The characteristics of the filter can be modified by adjusting the parameters in the table below.

[0034] Torque Compensation Filter Parameters

[0035] Table 2 Torque Compensation Filter Parameters

[0036] The output of the torque compensator is the compensated torque signal.

[0037] The second-order tor...

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Abstract

The invention discloses a torque compensation method of a power-assisted steering system. The power-assisted steering system includes a mechanical steering system and an electronic control unit, the input end of the electronic control unit is connected with a torque sensor, and the output end of the electronic control unit is connected with a mechanical steering system through a power-assisted steering motor and a reducing mechanism, wherein the electronic control unit adopts a fourth-order torque compensation method, a steering wheel original torque input signal is input, torque compensation is conducted by adjusting the filtering parameter, and a compensated torque signal is output. According to the torque compensation method of the power-assisted steering system, a fourth-order torque compensator is used for replacing a second-order torque compensator, and the fourth-order torque compensator is also a lead-lag filter, has the amplitude-frequency gaining and phase frequency compensation functions and is more flexible to use; through parameter adjustment, the system can possess various characteristics at the same time, and a better steering feeling is thus obtained.

Description

technical field [0001] The invention relates to an automobile steering technology, in particular to a torque compensation technology of an electric power steering system (Electric Power Steering, EPS for short). Background technique [0002] Most electric power steering systems such as figure 1 As shown, it is composed of a mechanical steering system with an additional rotation angle sensor 2, a torque sensor 11, an electronic control unit 13, a power steering motor 12 and a reduction mechanism 4 thereof. Among them, the mechanical steering system mainly includes the steering wheel 1, the steering column 3, the intermediate shaft 5, the steering gear 6, the pinion 10, the steering rod 7, the steering knuckle arm 9 and the steering wheel 8; the torque sensor is used to detect the driver's steering torque ; The power-assisted motor can be installed on the steering column or the steering gear, and provides the driver with power-assisted torque through the reduction mechanism. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04
CPCB62D5/0409B62D5/0421B62D5/0463
Inventor 杨佳兴
Owner 上海拿森汽车电子有限公司
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