A steering return and intermediate position control system and control method thereof

Abstract

The invention discloses a steering back-to-center and intermediate position control system and a control method thereof, which judges whether the vehicle is in the steering back-to-center or middle position control working condition through a steering integrated controller's back-to-center judging module; the time-varying sliding mode control module Make the estimated value of the sideslip angle of the center of mass approach to the expected side slip angle of the center of mass, so as to calculate the centering compensation torque in the centering condition; the steering integrated control module according to the steering wheel angle θ 2 After comparing with the threshold value Thres1, choose to use EPS to return to alignment or to use differential power assist to return to alignment. If it is in the middle position control condition of the steering wheel, according to the steering angle θ at the middle position of the steering wheel 3 After comparing with the threshold value Thres2, choose to use EPS or differential power steering to return to the center. The present invention can improve the stability and accuracy of the differential power steering of the distributed drive vehicle and the control in the middle position of the steering wheel. precision.

Description

technical field [0001] The invention relates to the technical field of vehicle steering control, in particular to a steering return and intermediate position control method based on differential steering and an EPS system. Background technique [0002] With the gradual increase of global car ownership, the consumption of fossil fuels also increases, which also means that the problems of energy shortage and environmental pollution will become increasingly severe. Facing the dual pressure of energy and the environment, the development of new energy vehicles, especially Electric vehicles have extremely urgent practical significance for alleviating the energy crisis and reducing environmental pollution. At present, my country has included new energy vehicles in the national development plan. Researching and exploring energy-saving, environmentally friendly and safe electric vehicles has become an important direction for realizing the strategic needs and sustainable development o...

AI Technical Summary

Problems solved by technology

[0006] Considering the high quality of the driving wheels of the distributed drive vehicle and the large steering inertia, it is easy to have overshooting and chattering at high speeds and insufficient backing at low speeds under its backing conditions. There is a sensor measurement error in the steering center area. , Numerical processing errors and other reasons lead to problems such as poor control accuracy in the central area. The present invention provides a steering return and intermediate position control method based on differential steering and EPS system. Through the combination of differential power steering and traditional EPS steering system, Improve the stability and accuracy of the timing of the coupled steering system of distributed drive vehicles and the control accuracy of the middle position of the steering wheel

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