Winding control method and system for solving steering jitter

Abstract

The invention discloses a winding control method for solving steering jitter, and the method comprises the steps: obtaining a next execution value of the power of a main winding of a steering motor and a next execution value of the power of a secondary winding of the steering motor through precise calculation and control of parameters such as a power difference value, a difference ratio and a resistance utilization ratio of the main winding and the secondary winding of the steering motor; and it is ensured that the time required for the next execution value of the steering motor main winding assistance to change to the steering motor main winding assistance target value is the same as the time required for the next execution value of the steering motor auxiliary winding assistance to change to the steering motor auxiliary winding assistance target value, and synchronous work of the main winding and the auxiliary winding in the assistance process is achieved. According to the method, the problem of steering jittering caused by asynchronization of the main winding and the auxiliary winding is avoided, the driving comfort is improved, and the service life of the motor winding is prolonged by optimizing the power-assisted control strategy. By means of the technical scheme, the electric power steering system of the intelligent automobile can operate more stably and safely, and the requirement of the intelligent automobile for the high function safety standard is met.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile power steering systems, and in particular to a winding control method and system for solving steering vibration. Background Art

[0002] With the rapid development of smart car technology, electric power steering (EPS) has become an indispensable part of modern cars. The electric power steering system provides auxiliary force through the motor to help the driver perform steering operations, reduce the driver's labor intensity, and improve driving comfort and safety. In the field of smart cars, the electric power steering system not only needs to provide basic steering assistance, but also needs to meet higher functional safety requirements to adapt to complex and changing driving environments and operating requirements.

[0003] At present, in order to meet the functional safety requirements of smart cars, the motor in the electric power steering system has been upgraded from the traditional single winding structure to a main and auxiliary dual winding structure. This main and auxiliary dual winding configuration design is designed to improve the reliability and safety of the system through mutual redundancy backup of the two windings. In normal operation, the main winding provides the main power assistance, while the auxiliary winding serves as a backup. Once the main winding fails, the auxiliary winding can immediately take over to ensure the normal operation of the steering system.

[0004] Although the main and auxiliary dual winding structure improves the safety of the system in theory, in practical applications, this structure also brings new problems. The most important problem is the coordination and synchronization of the main and auxiliary windings during operation. Since the power-assisting capabilities of the main and auxiliary windings may be different, and it is difficult to achieve precise synchronization in actual control, this may lead to jitter during the steering process. This jitter not only affects driving comfort, but may also pose a threat to driving safety. In addition, asynchronous power assistance may also cause overload of the motor windings, reducing the service life and reliability of the motor. Therefore, while the existing technology improves the functional safety of the electric power steering system, it is also urgent to solve the coordination and synchronization problem of the main and auxiliary windings to ensure the stability and reliability of the smart car steering system. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the purpose of the present invention is to provide a winding control method and system for solving steering jitter. The method obtains the next execution value of the steering motor main winding power assistance and the next execution value of the steering motor auxiliary winding power assistance by accurately calculating and controlling the power assistance difference, relative difference ratio, resistance utilization ratio and other parameters of the main and auxiliary windings, ensuring that the time required for the steering motor main winding power assistance to change to the steering motor main winding power assistance target value is the same as the time required for the steering motor auxiliary winding power assistance to change to the steering motor auxiliary winding power assistance target value, thereby realizing the synchronous operation of the main and auxiliary windings during the power assistance process. This method not only avoids the steering jitter problem caused by the asynchronism of the main and auxiliary windings, improves driving comfort, but also prolongs the service life of the motor winding and enhances the reliability of the system by optimizing the power assistance control strategy. Through the technical solution of the present invention, the electric power steering system of the smart car can operate more smoothly and safely, meeting the requirements of the smart car for high functional safety standards.

[0006] To achieve this object, according to a first aspect of the present invention, a winding control method for solving steering jitter is provided, comprising:

[0007] S100, calculating the main and auxiliary winding capacity limit ratio based on the steering motor main winding power assist capacity change limit and the steering motor auxiliary winding capacity change limit; calculating the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference based on the steering motor main winding power assist target value, the steering motor auxiliary winding power assist target value, the steering motor main winding power assist executed value and the steering motor auxiliary winding power assist executed value; calculating the main and auxiliary winding difference relative ratio based on the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference;

[0008] S200, calculating the main and auxiliary winding resistance utilization ratio based on the relative difference ratio of the main and auxiliary windings and the main and auxiliary winding capacity limit ratio; calculating the steering motor main winding power assistance reference value based on the steering motor auxiliary winding capacity change limit and the steering motor auxiliary winding power assistance difference;

[0009] S300, calculating the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor based on the power assist reference value of the main winding of the engine, the utilization ratio of the main winding resistance and the auxiliary winding resistance, and the relative difference between the main winding and the auxiliary winding resistance; calculating the power assist smoothing coefficient based on the power assist difference of the main winding of the steering motor, the power assist difference of the auxiliary winding of the steering motor, the power assist target value of the main winding of the steering motor, and the power assist target value of the auxiliary winding of the steering motor;

[0010] S400, calculating the power assist change amount of the main winding of the steering motor and the power assist change amount of the auxiliary winding of the steering motor based on the power assist smoothing coefficient, the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor;

[0011] S500, calculating the next execution value of the steering motor main winding assistance and the next execution value of the steering motor auxiliary winding assistance based on the steering motor main winding assistance change, the steering motor auxiliary winding assistance executed value and the steering motor auxiliary winding assistance executed value.

[0012] S600. After the time task execution cycle, update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist, and switch to step S100 to start execution, ensuring that the time required for the next execution value of the main and auxiliary winding assist to change to the target value is the same, realizing the synchronous operation of the main and auxiliary windings, and avoiding steering jitter problems caused by asynchrony.

[0013] Furthermore, the calculation of the main and secondary winding capacity limit ratio in step S100 includes:

[0014]

[0015] Wherein, τ1 represents the capacity limit ratio of the main winding to the auxiliary winding; ΔFmax1 represents the change limit of the power assist capacity of the main winding of the steering motor, which is obtained by bench testing; ΔFmax2 represents the change limit of the auxiliary winding capacity of the steering motor, which is obtained by bench testing.

[0016] Furthermore, the step S100 of calculating the power assist difference of the main winding of the steering motor and the power assist difference of the auxiliary winding of the steering motor includes:

[0017]

[0018] In the formula, F1 represents the target value of the power assist of the main winding of the steering motor; F2 represents the target value of the power assist of the auxiliary winding of the steering motor; F1(k-1)1 represents the executed value of the power assist of the main winding of the steering motor; F1(k-1)2 represents the executed value of the power assist of the auxiliary winding of the steering motor.

[0019] Further, in step S100, calculating the relative difference between the main winding and the auxiliary winding based on the power assist difference of the steering motor main winding and the power assist difference of the steering motor auxiliary winding comprises:

[0020]

[0021] Where τ2 represents the relative difference between the main and auxiliary windings.

[0022] Further, in step S200, the calculation of the main and auxiliary winding resistance utilization ratio based on the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio includes:

[0023] τ=min(τ1,τ2)

[0024] Where, τ represents the utilization ratio of the main and auxiliary winding resistances.

[0025] Further, the calculation of the steering motor main winding assist reference value in step S200 includes:

[0026]

[0027] Wherein, ΔFC represents the assist reference value of the motor main winding; time1 represents the task execution cycle; and time2 represents the corresponding time of capacity limitation.

[0028] Further, the calculation of the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor in step S300 includes:

[0029]

[0030] Wherein, ΔF21 represents the power assist increment of the main winding of the steering motor; ΔF22 represents the power assist increment of the auxiliary winding of the steering motor.

[0031] Furthermore, the calculation of the power assist smoothness coefficient in step S300 includes:

[0032]

[0033] Where γ represents the power smoothing coefficient.

[0034] Further, the calculation of the power assist change of the main winding of the steering motor and the power assist change of the auxiliary winding of the steering motor in step S400 includes:

[0035]

[0036] Wherein, ΔF31 represents the power assist change of the main winding of the steering motor; ΔF32 represents the power assist change of the auxiliary winding of the steering motor.

[0037] Further, the calculation of the next execution value of the power assist of the main winding of the steering motor and the next execution value of the power assist of the auxiliary winding of the steering motor in step S400 includes:

[0038] F1(k)1=F1(k-1)1±ΔF31

[0039] F1(k)2=F1(k-1)2±ΔF32

[0040] Wherein, F1(k)1 represents the next execution value of the power assist of the main winding of the steering motor; F1(k)1 represents the next execution value of the power assist of the secondary winding of the steering motor.

[0041] According to a second aspect of the present invention, there is provided a winding control system for solving steering jitter, comprising:

[0042] The first module calculates the main and auxiliary winding capacity limit ratio based on the steering motor main winding power assist capacity change limit and the steering motor auxiliary winding capacity change limit; calculates the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference based on the steering motor main winding power assist target value, the steering motor auxiliary winding power assist target value, the steering motor main winding power assist executed value and the steering motor auxiliary winding power assist executed value; calculates the main and auxiliary winding difference relative ratio based on the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference;

[0043] The second module calculates the main and auxiliary winding resistance utilization ratio based on the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio; calculates the steering motor main winding power assistance reference value based on the steering motor auxiliary winding capacity change limit and the steering motor auxiliary winding power assistance difference;

[0044] The third module calculates the steering motor main winding power assist increment and the steering motor auxiliary winding power assist increment based on the steering motor main winding power assist reference value, the main and auxiliary winding resistance utilization ratio, and the main and auxiliary winding difference relative ratio; calculates the power assist smoothing coefficient based on the steering motor main winding power assist difference, the steering motor auxiliary winding power assist difference, the steering motor main winding power assist target value, and the steering motor auxiliary winding power assist target value;

[0045] A fourth module calculates a power assist change of the main winding of the steering motor and a power assist change of the auxiliary winding of the steering motor based on the power assist smoothing coefficient, the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor;

[0046] The fifth module calculates the next execution value of the steering motor main winding assist and the next execution value of the steering motor secondary winding assist based on the assist change of the steering motor main winding, the assist change of the steering motor secondary winding, the executed value of the steering motor main winding assist and the executed value of the steering motor secondary winding assist.

[0047] The sixth module is used to update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist after the time task execution cycle has passed, and switch to step S100 to start execution, to ensure that the time required for the next execution value of the main winding assist and the next execution value of the auxiliary winding assist to change to the target value is the same, to achieve synchronous operation of the main and auxiliary windings, and to avoid steering jitter problems caused by asynchrony.

[0048] Beneficial effects of the present invention:

[0049] 1. The present invention proposes a winding control method for solving steering jitter. By accurately calculating and controlling the power difference, relative difference ratio, resistance utilization ratio and other parameters of the main and auxiliary windings, the next execution value of the power assistance of the main winding of the steering motor and the next execution value of the power assistance of the auxiliary winding of the steering motor are obtained, ensuring that the time required for the next execution value of the power assistance of the main winding of the steering motor to change to the power assistance target value of the main winding of the steering motor is the same as the time required for the next execution value of the power assistance of the auxiliary winding of the steering motor to change to the power assistance target value of the auxiliary winding of the steering motor, thereby realizing the synchronous operation of the main and auxiliary windings during the power assistance process. This method not only avoids the steering jitter problem caused by the asynchrony of the main and auxiliary windings, improves driving comfort, but also prolongs the service life of the motor winding and enhances the reliability of the system by optimizing the power assistance control strategy. Through the technical solution of the present invention, the electric power steering system of the smart car can operate more smoothly and safely, meeting the requirements of smart cars for high functional safety standards.

[0050] 2. The present invention proposes a winding control method for solving steering jitter, which ensures that the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor are not greater than the power assist capacity change limit of the main winding of the steering motor and the capacity change limit of the auxiliary winding of the steering motor within the corresponding time of the capacity limit, respectively, thereby avoiding the winding from working beyond its capacity and effectively improving the working durability of the winding.

[0051] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0053] Figure 1 is a flow chart of a winding control method for solving steering jitter in an embodiment of the present invention; DETAILED DESCRIPTION

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0055] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0056] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0057] The present invention provides a winding control method and system for solving steering jitter. The method obtains the next execution value of the steering motor main winding power assistance and the next execution value of the steering motor auxiliary winding power assistance by accurately calculating and controlling the power assistance difference, relative difference ratio, resistance utilization ratio and other parameters of the main and auxiliary windings, ensuring that the time required for the steering motor main winding power assistance to change to the steering motor main winding power assistance target value is the same as the time required for the steering motor auxiliary winding power assistance to change to the steering motor auxiliary winding power assistance target value, thereby realizing the synchronous operation of the main and auxiliary windings during the power assistance process. This method not only avoids the steering jitter problem caused by the asynchronism of the main and auxiliary windings, improves driving comfort, but also prolongs the service life of the motor winding and enhances the reliability of the system by optimizing the power assistance control strategy. Through the technical solution of the present invention, the electric power steering system of the smart car can operate more smoothly and safely, meeting the requirements of the smart car for high functional safety standards.

[0058] Embodiment 1:

[0059] like Figure 1 As shown, an embodiment of the present invention provides a winding control method for solving steering jitter, comprising:

[0060] S100, calculating the main and auxiliary winding capacity limit ratio based on the steering motor main winding power-assistance capacity change limit and the steering motor auxiliary winding capacity change limit; the main and auxiliary winding capacity limit ratio is equal to the steering motor main winding power-assistance capacity change limit divided by the steering motor auxiliary winding capacity change limit. The main and auxiliary winding capacity limit ratio is calculated as follows:

[0061]

[0062] In the formula, τ1 represents the capacity limit ratio of the main winding to the auxiliary winding; ΔFmax1 represents the change limit of the power assist capacity of the main winding of the steering motor; ΔFmax2 represents the change limit of the auxiliary winding capacity of the steering motor; ΔFmax1 and ΔFmax2 are determined by factors such as the winding wire diameter of the main winding of the steering motor and the auxiliary winding of the steering motor, respectively, and can be obtained by bench testing.

[0063] The steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference are calculated based on the steering motor main winding power assist target value, the steering motor auxiliary winding power assist target value, the steering motor main winding power assist executed value and the steering motor auxiliary winding power assist executed value; the steering motor main winding power assist difference is equal to the steering motor main winding power assist target value minus the steering motor main winding power assist executed value; the steering motor auxiliary winding power assist difference is equal to the steering motor auxiliary winding power assist target value minus the steering motor auxiliary winding power assist executed value. The calculation formulas for the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference are:

[0064]

[0065] In the formula, F1 represents the target value of the steering motor main winding power assist; F2 represents the target value of the steering motor auxiliary winding power assist; F1(k-1)1 represents the executed value of the steering motor main winding power assist; F1(k-1)2 represents the executed value of the steering motor auxiliary winding power assist; F1+F2 is the total target power assist value of the steering motor, which is calculated by a specific algorithm, and F1 and F2 are allocated and obtained according to the budget allocation rule.

[0066] The relative difference ratio of the main and auxiliary windings is calculated based on the power difference of the main winding of the steering motor and the power difference of the auxiliary winding of the steering motor; the relative difference ratio of the main and auxiliary windings is equal to the absolute value of the power difference of the main winding of the steering motor divided by the power difference of the auxiliary winding of the steering motor. The calculation formula of the relative difference ratio of the main and auxiliary windings is:

[0067]

[0068] Where τ2 represents the relative difference between the main and auxiliary windings.

[0069] S200, calculating the main and auxiliary winding resistance utilization ratio based on the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio; the main and auxiliary winding resistance utilization ratio is equal to the smaller value of the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio. The calculation formula of the main and auxiliary winding resistance utilization ratio is:

[0070] τ=min(τ1,τ2)

[0071] Where, τ represents the utilization ratio of the main and auxiliary winding resistances.

[0072] The reference value of the power assist of the main winding of the steering motor is calculated based on the capacity change limit of the auxiliary winding of the steering motor and the power assist difference of the auxiliary winding of the steering motor; the reference value of the power assist of the main winding of the motor is equal to the smaller value of the obtained value of the power assist difference of the auxiliary winding of the steering motor multiplied by the task execution cycle divided by the corresponding time of the capacity limit and the capacity change limit of the auxiliary winding of the steering motor. The calculation formula of the reference value of the power assist of the main winding of the motor is:

[0073]

[0074] Wherein, ΔFC represents the assist reference value of the motor main winding; time1 represents the task execution cycle; and time2 represents the corresponding time of capacity limitation.

[0075] S300, based on the power reference value of the main winding of the motor, the main and auxiliary winding resistance utilization ratio, and the relative difference ratio of the main and auxiliary windings, the power increment of the main winding of the steering motor and the power increment of the auxiliary winding of the steering motor are calculated; the power increment of the main winding of the steering motor is equal to the power reference value of the main winding of the motor multiplied by the main and auxiliary winding resistance utilization ratio; the power increment of the auxiliary winding of the steering motor is equal to the power increment of the main winding of the steering motor divided by the relative difference ratio of the main and auxiliary windings. The calculation formulas for the power increment of the main winding of the steering motor and the power increment of the auxiliary winding of the steering motor are:

[0076]

[0077] Wherein, ΔF21 represents the power assist increment of the main winding of the steering motor; ΔF22 represents the power assist increment of the auxiliary winding of the steering motor.

[0078] Furthermore, we know that ΔF21:

[0079]

[0080] Furthermore, we know that:

[0081]

[0082] Furthermore, we know that:

[0083]

[0084] Further, we can know that:

[0085]

[0086] To sum up, the steering motor main winding power assist increment and the steering motor auxiliary winding power assist increment within the capacity limit corresponding time are not greater than the steering motor main winding power assist capacity change limit and the steering motor auxiliary winding capacity change limit, thereby avoiding the winding from working beyond its capacity and improving the working durability of the winding.

[0087] The power assist smoothing coefficient is calculated based on the power assist difference of the main winding of the steering motor, the power assist difference of the auxiliary winding of the steering motor, the power assist target value of the main winding of the steering motor, and the power assist target value of the auxiliary winding of the steering motor; the power assist smoothing coefficient is equal to the sum of the absolute value of the power assist difference of the main winding of the steering motor and the absolute value of the power assist difference of the auxiliary winding of the steering motor divided by the smaller value of the sum of the absolute value of the power assist target value of the main winding of the steering motor and the absolute value of the power assist target value of the auxiliary winding of the steering motor and 1. The calculation formula of the power assist smoothing coefficient is:

[0088]

[0089] Where γ represents the power smoothing coefficient.

[0090] S400, based on the power assist smoothing coefficient, the power assist increment of the steering motor main winding and the power assist increment of the steering motor auxiliary winding, calculate the power assist change of the steering motor main winding and the power assist change of the steering motor auxiliary winding; the power assist change of the steering motor main winding is equal to the power assist smoothing coefficient multiplied by the power assist increment of the steering motor main winding; the power assist change of the steering motor auxiliary winding is equal to the power assist smoothing coefficient multiplied by the power assist increment of the steering motor auxiliary winding. The calculation formula of the power assist change of the steering motor main winding and the power assist change of the steering motor auxiliary winding is:

[0091]

[0092] Wherein, ΔF31 represents the power assist change of the main winding of the steering motor; ΔF32 represents the power assist change of the auxiliary winding of the steering motor.

[0093] S500, based on the power assist change of the steering motor main winding, the power assist change of the steering motor auxiliary winding, the executed value of the power assist of the steering motor main winding and the executed value of the power assist of the steering motor auxiliary winding, calculate the next execution value of the power assist of the steering motor main winding and the next execution value of the power assist of the steering motor auxiliary winding; the next execution value of the power assist of the steering motor main winding is equal to the executed value of the power assist of the steering motor main winding plus or minus the power assist change of the steering motor main winding; the next execution value of the power assist of the steering motor auxiliary winding is equal to the executed value of the power assist of the steering motor auxiliary winding plus or minus the power assist change of the steering motor auxiliary winding. The calculation formulas for the next execution value of the power assist of the steering motor main winding and the next execution value of the power assist of the steering motor auxiliary winding are:

[0094] F1(k)1=F1(k-1)1±ΔF31

[0095] F1(k)2=F1(k-1)2±ΔF32

[0096] In the formula, F1(k)1 represents the next execution value of the steering motor main winding assist; F1(k)1 represents the next execution value of the steering motor auxiliary winding assist; if the winding assist target value is less than the winding assist executed value, this step adopts the subtraction operation, otherwise the addition operation is adopted.

[0097] S600. After the time task execution cycle, update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist, and switch to step S100 to start execution, ensuring that the time required for the next execution value of the main and auxiliary winding assist to change to the target value is the same, realizing the synchronous operation of the main and auxiliary windings, and avoiding steering jitter problems caused by asynchrony.

[0098] Further, it can be known that the time required for the next execution value of the steering motor main winding power assistance and the next execution value of the steering motor auxiliary winding power assistance to change to the steering motor main winding power assistance target value and the steering motor auxiliary winding power assistance target value respectively is:

[0099]

[0100] Wherein: time31 is the time required for the steering motor main winding power assist to change to the steering motor main winding power assist target value; time32 is the time required for the steering motor auxiliary winding power assist to change to the steering motor auxiliary winding power assist target value;

[0101] Furthermore, we know that:

[0102]

[0103] Furthermore, we know that:

[0104]

[0105] Furthermore, we know that:

[0106]

[0107] Further, it can be simplified to:

[0108]

[0109] In summary, time31=time32, that is, the time required for the steering motor main winding power assist to change to the steering motor main winding power assist target value is the same as the time required for the steering motor auxiliary winding power assist to change to the steering motor auxiliary winding power assist target value, thereby achieving the synchronous operation of the main and auxiliary windings during the power assist process. This method not only avoids the steering jitter problem caused by the asynchronism between the main and auxiliary windings, improves driving comfort, but also extends the service life of the motor winding and enhances the reliability of the system by optimizing the power assist control strategy. Through the technical solution of the present invention, the electric power steering system of the smart car can operate more smoothly and safely, meeting the requirements of smart cars for high functional safety standards.

[0110] Embodiment 2:

[0111] An embodiment of the present invention provides a winding control system for solving steering jitter, including:

[0112] The first module calculates the main and auxiliary winding capacity limit ratio based on the steering motor main winding power assist capacity change limit and the steering motor auxiliary winding capacity change limit; calculates the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference based on the steering motor main winding power assist target value, the steering motor auxiliary winding power assist target value, the steering motor main winding power assist executed value and the steering motor auxiliary winding power assist executed value; calculates the main and auxiliary winding difference relative ratio based on the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference;

[0113] The second module calculates the main and auxiliary winding resistance utilization ratio based on the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio; calculates the steering motor main winding power assistance reference value based on the steering motor auxiliary winding capacity change limit and the steering motor auxiliary winding power assistance difference;

[0114] The third module calculates the steering motor main winding power assist increment and the steering motor auxiliary winding power assist increment based on the steering motor main winding power assist reference value, the main and auxiliary winding resistance utilization ratio, and the main and auxiliary winding difference relative ratio; calculates the power assist smoothing coefficient based on the steering motor main winding power assist difference, the steering motor auxiliary winding power assist difference, the steering motor main winding power assist target value, and the steering motor auxiliary winding power assist target value;

[0115] A fourth module calculates a power assist change of the main winding of the steering motor and a power assist change of the auxiliary winding of the steering motor based on the power assist smoothing coefficient, the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor;

[0116] The fifth module calculates the next execution value of the steering motor main winding assist and the next execution value of the steering motor secondary winding assist based on the assist change of the steering motor main winding, the assist change of the steering motor secondary winding, the executed value of the steering motor main winding assist and the executed value of the steering motor secondary winding assist.

[0117] The sixth module is used to update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist after the time task execution cycle has passed, and switch to step S100 to start execution, to ensure that the time required for the next execution value of the main winding assist and the next execution value of the auxiliary winding assist to change to the target value is the same, to achieve synchronous operation of the main and auxiliary windings, and to avoid steering jitter problems caused by asynchrony.

[0118] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence 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 a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0119] The above is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A winding control method for solving steering jitter, characterized in that: include: S100, calculating the main and auxiliary winding capacity limit ratio based on the power assist capacity change limit of the main winding of the steering motor and the capacity change limit of the auxiliary winding of the steering motor; Calculating a steering motor main winding power assistance difference value and a steering motor auxiliary winding power assistance difference value based on a steering motor main winding power assistance target value, a steering motor auxiliary winding power assistance target value, a steering motor main winding power assistance executed value, and a steering motor auxiliary winding power assistance executed value; Calculating a relative comparison of the difference between the main winding and the auxiliary winding based on the power assist difference of the main winding of the steering motor and the power assist difference of the auxiliary winding of the steering motor; S200, calculating the resistance utilization ratio of the main and auxiliary windings based on the relative ratio of the difference between the main and auxiliary windings and the capacity limitation ratio of the main and auxiliary windings; Calculating a reference value of the power assist of the main winding of the steering motor based on a capacity change limit of the auxiliary winding of the steering motor and a power assist difference of the auxiliary winding of the steering motor; S300, calculating a steering motor main winding power assist increment and a steering motor auxiliary winding power assist increment based on the steering motor main winding power assist reference value, the main and auxiliary winding resistance utilization ratio, and the main and auxiliary winding difference relative ratio; Calculating a power assist smoothing coefficient based on the power assist difference of the steering motor main winding, the power assist difference of the steering motor auxiliary winding, a power assist target value of the steering motor main winding, and a power assist target value of the steering motor auxiliary winding; S400, calculating the power assist change of the main winding of the steering motor and the power assist change of the auxiliary winding of the steering motor based on the power assist smoothing coefficient, the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor; S500, calculating a next execution value of the steering motor main winding assistance and a next execution value of the steering motor auxiliary winding assistance based on the steering motor main winding assistance change, the steering motor auxiliary winding assistance change, the steering motor main winding assistance executed value and the steering motor auxiliary winding assistance executed value; S600. After the time task execution cycle, update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist, and switch to step S100 to start execution, ensuring that the time required for the next execution value of the main winding assist and the next execution value of the auxiliary winding assist to change to the target value is the same, so as to achieve synchronous operation of the main and auxiliary windings and avoid steering jitter problems caused by asynchrony.

2. A winding control method for solving steering jitter according to claim 1, characterized in that: The calculation of the main and auxiliary winding capacity limit ratio and the calculation of the steering motor main winding power assist difference and the steering motor auxiliary winding power assist difference in step S100 include: In the formula, τ1 represents the capacity limit ratio of the main winding to the auxiliary winding; ΔFmax1 represents the change limit of the power assist capacity of the main winding of the steering motor, which is obtained by bench testing; ΔFmax2 represents the change limit of the auxiliary winding capacity of the steering motor, which is obtained by bench testing; In the formula, F1 represents the target value of the power assist of the main winding of the steering motor; F2 represents the target value of the power assist of the auxiliary winding of the steering motor; F1(k-1)1 represents the executed value of the power assist of the main winding of the steering motor; F1(k-1)2 represents the executed value of the power assist of the auxiliary winding of the steering motor.

3. A winding control method for solving steering jitter according to claim 2, characterized in that: Calculating the relative comparison of the difference between the main winding and the auxiliary winding based on the power assist difference of the main winding of the steering motor and the power assist difference of the auxiliary winding of the steering motor in step S100 includes: Where τ2 represents the relative difference between the main and auxiliary windings.

4. A winding control method for solving steering jitter according to any one of claims 1-3, characterized in that: In step S200, the calculation of the main and auxiliary winding resistance utilization ratio based on the relative ratio of the main and auxiliary winding differences and the main and auxiliary winding capacity limit ratio includes: τ=min(τ1,τ2) Where, τ represents the utilization ratio of the main and auxiliary winding resistances.

5. A winding control method for solving steering jitter according to claim 2, characterized in that: Calculating the power assist reference value of the main winding of the steering motor in step S200 includes: Wherein, ΔFC represents the assist reference value of the motor main winding; time1 represents the task execution cycle; and time2 represents the corresponding time of capacity limitation.

6. A winding control method for solving steering jitter according to claim 4, characterized in that: The step S300 of calculating the power assist increment of the main winding of the steering motor and the power assist increment of the auxiliary winding of the steering motor includes: Wherein, ΔF21 represents the power assist increment of the main winding of the steering motor; ΔF22 represents the power assist increment of the auxiliary winding of the steering motor.

7. A winding control method for solving steering jitter according to claim 2, characterized in that: Calculating the power assist smoothness coefficient in step S300 includes: Where γ represents the power smoothing coefficient.

8. A winding control method for solving steering jitter according to any one of claims 6 or 7, characterized in that: Calculating the power assist change of the main winding of the steering motor and the power assist change of the auxiliary winding of the steering motor in step S400 includes: Wherein, ΔF31 represents the power assist change of the main winding of the steering motor; ΔF32 represents the power assist change of the auxiliary winding of the steering motor.

9. A winding control method for solving steering jitter according to claim 8, characterized in that: Calculating the next execution value of the power assist of the main winding of the steering motor and the next execution value of the power assist of the auxiliary winding of the steering motor in step S400 includes: F1(k)1=F1(k-1)1±ΔF31 F1(k)2=F1(k-1)2±ΔF32 Wherein, F1(k)1 represents the next execution value of the power assist of the main winding of the steering motor; F1(k)1 represents the next execution value of the power assist of the secondary winding of the steering motor.

10. A winding control system for solving steering jitter, characterized in that: include: The first module calculates the main and auxiliary winding capacity limit ratio based on the power assist capacity change limit of the main winding of the steering motor and the capacity change limit of the auxiliary winding of the steering motor; Calculating a steering motor main winding power assistance difference value and a steering motor auxiliary winding power assistance difference value based on a steering motor main winding power assistance target value, a steering motor auxiliary winding power assistance target value, a steering motor main winding power assistance executed value, and a steering motor auxiliary winding power assistance executed value; Calculating a relative comparison of the difference between the main winding and the auxiliary winding based on the power assist difference of the main winding of the steering motor and the power assist difference of the auxiliary winding of the steering motor; The second module calculates the resistance utilization ratio of the main and auxiliary windings based on the relative ratio of the main and auxiliary winding differences and the capacity limitation ratio of the main and auxiliary windings; Calculating a reference value of the power assist of the main winding of the steering motor based on a capacity change limit of the auxiliary winding of the steering motor and a power assist difference of the auxiliary winding of the steering motor; The third module calculates the steering motor main winding power assist increment and the steering motor auxiliary winding power assist increment based on the steering motor main winding power assist reference value, the main and auxiliary winding resistance utilization ratio, and the main and auxiliary winding difference relative ratio; Calculating a power assist smoothing coefficient based on the power assist difference of the steering motor main winding, the power assist difference of the steering motor auxiliary winding, a power assist target value of the steering motor main winding, and a power assist target value of the steering motor auxiliary winding; A fourth module calculates a power assist change of a main winding of a steering motor and a power assist change of a secondary winding of a steering motor based on the power assist smoothing coefficient, a power assist increment of a main winding of a steering motor and a power assist increment of a secondary winding of a steering motor; A fifth module calculates a next execution value of the steering motor main winding assist and a next execution value of the steering motor auxiliary winding assist based on the assist change of the steering motor main winding, the assist change of the steering motor auxiliary winding, the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist; The sixth module is used to update the executed value of the steering motor main winding assist and the executed value of the steering motor auxiliary winding assist after the time task execution cycle has passed, and switch to step S100 to start execution, to ensure that the time required for the next execution value of the main winding assist and the next execution value of the auxiliary winding assist to change to the target value is the same, to achieve synchronous operation of the main and auxiliary windings, and to avoid steering jitter problems caused by asynchrony.

Images