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Determination method of vehicle electric power-assisted steering system friction compensation torque

A technology of electric power steering and friction compensation, which is applied in the direction of electric steering mechanism, power steering mechanism, steering mechanism, etc. It can solve the problems of demanding differences in mechanical components and incomplete control algorithms, so as to overcome adverse effects and achieve better control effects , the effect of comfortable operation

Active Publication Date: 2017-08-29
嘉兴仕善汽车科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to realize the method of friction compensation in the electric power steering system of automobiles, so as to solve the problem of incomplete control algorithm, and also solve the problem of demanding differences between mechanical components

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  • Determination method of vehicle electric power-assisted steering system friction compensation torque

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Embodiment Construction

[0033] The present invention will be further described below with reference to the accompanying drawings and examples.

[0034] figure 1 It is a path block diagram of a method for determining friction compensation torque of an electric power steering system of an automobile.

[0035] (1) According to the relationship between torque and moment of inertia, the physical quantity related to friction torque is introduced;

[0036] (2) Determine the input and calibration variables, and establish a Simulink model in the MATLAB environment to realize friction compensation;

[0037] The relationship between torque and rotation angle in the EPS system is:

[0038] Jω’ = T_assit + T_hand – T_f

[0039] Where: T_assit is the basic assist torque;

[0040] T_hand is the steering wheel hand torque;

[0041] T_f is the friction torque of the system;

[0042] J is the moment of inertia of the steering wheel;

[0043] ω' is the angular acceleration of the steering wheel;

[0044] It can...

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Abstract

The invention provides a determination method of vehicle electric power-assisted steering system friction compensation torque. The determination method comprises the steps of 1, according to the relation between torque and rotational inertia, introducing a physical amount related to friction torque; 2, determining an input and calibrated variable, in a MATLAB environment, establishing a Simulink model to achieve friction compensation; since correlation exists among friction compensation torque, power-assisted torque, steering wheel hand power torque and angle acceleration, according to the relational expression, establishing a mathematical model. In the EPS system, after the determination method of the vehicle electric power-assisted steering system friction compensation torque is adopted, adverse influence of friction of all links of a system to power-assisted performance can be overcome, so that a control effect of an electric power-assisted steering system is better, and the operation is more comfortable.

Description

technical field [0001] The technology relates to a method for determining friction compensation torque of an electric power steering system in an automobile electric power steering (EPS) system. Background technique [0002] There is a certain amount of friction in the friction pair mechanism with relative motion. In the electric power steering (EPS, Electric Power Steering) system of the car, in the control of the EPS system, the existence and size of friction compensation are important to the system performance. influences. Due to the differences in the mechanical components themselves and the different lubrication methods, the friction force between the mechanical moving parts is not consistent. Friction compensation can make the system overcome this difference and make the system more robust. At the same time, the introduction of friction compensation can make the control algorithm more complete and achieve better control purposes. Contents of the invention [0003] ...

Claims

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Application Information

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IPC IPC(8): B62D5/04
CPCB62D5/0463
Inventor 焦玉夏洪涛张宇
Owner 嘉兴仕善汽车科技有限公司
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