Steering fluctuation compensation method and device, vehicle, storage medium and program product

Abstract

The embodiment of the invention provides a steering fluctuation compensation method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control. According to the method, the compensation gain is calculated according to the steering wheel rotating speed collected in real time, the steering wheel torque is reversely compensated based on the sixth harmonic and the twelfth harmonic in the steering wheel rotating speed, the compensation intensity is dynamically adjusted through the compensation gain, the motor can rapidly respond to the change of the steering wheel rotating speed, and the compensation harmonic is adjusted in time. The torque fluctuation caused by motor control and cogging torque is counteracted by adding reverse harmonic waves into the torque of the steering wheel, so that unnecessary vibration and impact are reduced, the steering wheel rotates more smoothly, the hand feeling of the steering wheel is optimized, the control experience of a driver is remarkably improved, and the driving stability and safety are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a steering fluctuation compensation method, device, vehicle, storage medium and program product. Background Art

[0002] Due to factors such as motor cogging torque, inverter nonlinearity, and Mosfet dead zone, there is torque fluctuation in motor control. Torque fluctuation is crucial for simulating the feel in wire-controlled steering, so reducing torque fluctuation is an urgent problem that needs to be solved. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a steering fluctuation compensation method, device, vehicle, storage medium and program product, which can optimize the steering wheel feel and enhance the driver's control experience.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows: In a first aspect, the present invention provides a steering fluctuation compensation method, the method comprising: Collect steering wheel speed and steering wheel torque; determining a compensation gain according to the steering wheel speed; generating a compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain; A compensation torque is generated according to the steering wheel torque and the compensation harmonic, so that a motor simulates a steering wheel feel based on the compensation torque.

[0005] In an optional implementation manner, generating the compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain includes: generating residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed using a dual parallel quasi-PR filter; A product of the residual harmonic and the compensation gain is determined as the compensation harmonic.

[0006] In an optional implementation manner, the calculation formula for the residual harmonics is:

[0007] in, is the residual harmonic; s is the complex variable of Laplace transform; is the proportional gain; is the resonant gain corresponding to the 6th harmonic; is the resonant gain corresponding to the 12th harmonic; is the resonant bandwidth corresponding to the 6th harmonic; is the resonant bandwidth corresponding to the 12th harmonic; is the base frequency.

[0008] In an optional implementation, the calculation formula of the compensation gain is:

[0009] Where, K is the compensation gain; is the steering wheel speed.

[0010] In an optional implementation manner, generating the compensation torque according to the steering wheel torque and the compensation harmonic includes: generating a motor torque based on the steering wheel torque using a steer-by-wire control system; The difference between the motor torque and the compensation harmonic is determined as the compensation torque.

[0011] In a second aspect, the present invention provides a steering fluctuation compensation device, the device comprising: A collection module, used to collect steering wheel speed and steering wheel torque; A processing module, configured to determine a compensation gain according to the steering wheel speed; and generate a compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain; The compensation module is used to generate a compensation torque according to the steering wheel torque and the compensation harmonic, so that the motor simulates the steering wheel feel based on the compensation torque.

[0012] In an optional implementation, the processing module is used to generate residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed using a dual parallel quasi-PR filter; and determine the product of the residual harmonic and the compensation gain as the compensation harmonic.

[0013] In a third aspect, the present invention provides a vehicle, comprising an electronic control unit and a TAS sensor, wherein the TAS sensor is used to collect steering wheel speed and steering wheel torque; the electronic control unit executes a computer program to implement the steering fluctuation compensation method described in any of the aforementioned embodiments.

[0014] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by an electronic control unit, implements a steering fluctuation compensation method as described in any one of the aforementioned embodiments.

[0015] In a fifth aspect, the present invention provides a program product, which, when executed by an electronic control unit, implements a steering fluctuation compensation method as described in any one of the aforementioned embodiments.

[0016] Compared with the prior art, the steering fluctuation compensation method, device, vehicle, storage medium and program product provided by the embodiments of the present invention calculate the compensation gain according to the real-time collected steering wheel speed, reversely compensate the steering wheel torque based on the 6th harmonic and 12th harmonic in the steering wheel speed, and dynamically adjust the compensation strength through the compensation gain, so that the motor can quickly respond to the change of the steering wheel speed and adjust the compensation harmonic in time. By adding reverse harmonics to the steering wheel torque, the torque fluctuation caused by motor control and cogging torque is offset, thereby reducing unnecessary vibration and impact, making the steering wheel turn smoother, optimizing the steering wheel feel, significantly improving the driver's control experience, and ensuring driving stability and safety.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic flow chart of a steering fluctuation compensation method provided in an embodiment of the present invention is shown.

[0020] Figure 2 Another schematic flow chart of a steering fluctuation compensation method provided in an embodiment of the present invention is shown.

[0021] Figure 3 A schematic diagram of a framework of a steering fluctuation compensation method provided by an embodiment of the present invention is shown.

[0022] Figure 4 Another schematic diagram of the framework of the steering fluctuation compensation method provided by an embodiment of the present invention is shown.

[0023] Figure 5 A block diagram of a steering fluctuation compensation device provided in an embodiment of the present invention is shown.

[0024] Figure 6 A block diagram of a vehicle provided by an embodiment of the present invention is shown.

[0025] Icons: 200 - steering fluctuation compensation device; 201 - acquisition module; 202 - processing module; 203 - compensation module; 300 - vehicle; 301 - electronic control unit; 302 - TAS sensor. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0029] When the vehicle is in motion, the driver turns the steering wheel, and the Torque Angle Sensor (TAS) collects and analyzes the steering wheel speed and steering wheel torque in real time. The inventors have found that the motor itself has cogging torque, which is an inherent fluctuation caused by the interaction between the motor rotor and stator teeth. At the same time, the motor control strategy may also cause torque fluctuations.

[0030] When the steering wheel is turned, the torque fluctuation will cause the steering wheel speed to fluctuate, and the frequency of the speed fluctuation is the same as the frequency of the torque fluctuation. Furthermore, the magnitude of the torque fluctuation is proportional to the magnitude of the speed fluctuation, that is, the larger the torque fluctuation, the more obvious the speed fluctuation. This will cause the driver to feel an uneven torque feedback when turning the steering wheel, making the steering operation less smooth and affecting the steering wheel feel.

[0031] Based on this, the steering fluctuation compensation method and device provided by the embodiment of the present invention calculates the compensation gain according to the real-time collected steering wheel speed, reversely compensates the steering wheel torque based on the 6th harmonic and 12th harmonic in the steering wheel speed, and dynamically adjusts the compensation strength through the compensation gain, so that the motor can quickly respond to the change of the steering wheel speed and adjust the compensation harmonic in time. By adding reverse harmonics to the steering wheel torque, the torque fluctuation caused by motor control and cogging torque is offset, thereby reducing unnecessary vibration and impact, making the steering wheel turn smoother, optimizing the steering wheel feel, significantly improving the driver's control experience, and ensuring driving stability and safety.

[0032] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] Please refer to Figure 1 , Figure 1 A schematic flow chart of a steering fluctuation compensation method provided by an embodiment of the present invention is shown. The method comprises the following steps: Step S100, collecting steering wheel speed and steering wheel torque.

[0034] In the embodiment of the present invention, when the driver turns the steering wheel, the TAS sensor obtains the speed information by detecting the rotation angle of the steering wheel, and measures the torque information applied by the driver to the steering wheel. The TAS sensor analyzes the speed information and torque information to obtain the steering wheel speed and steering wheel torque, and reports the steering wheel speed and steering wheel torque to the electronic control unit.

[0035] Step S110, determining a compensation gain according to the steering wheel speed.

[0036] In the embodiment of the present invention, a compensation gain matching the steering wheel speed is determined based on the steering wheel speed, and the compensation strength of the steering wheel torque is more accurately adjusted by the compensation gain to improve the driving experience. The compensation gain is used to characterize the proportional relationship between the speed fluctuation and the torque fluctuation.

[0037] Step S120, generating compensation harmonics according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain.

[0038] In the embodiment of the present invention, the most basic vibration frequency during the steering wheel rotation process is called the fundamental wave, and the harmonic refers to the vibration component whose frequency is an integer multiple of the fundamental wave frequency. The harmonic is caused by the non-ideal characteristics of the rotation, such as imbalance, gear clearance, mechanical defects, etc. Assuming that the fundamental wave frequency corresponding to the steering wheel speed is f, the frequency of the 6th harmonic is 6 times the fundamental wave frequency (i.e., 6f), and the frequency of the 12th harmonic is 12 times the fundamental wave frequency (i.e., 12f).

[0039] The inventors have found that the torque fluctuation of the steering system motor is mainly concentrated in the 6th harmonic and the 12th harmonic. These specific harmonics directly affect the feel of the steering wheel, resulting in uneven vibration at a specific speed. Therefore, in order to improve the feel and smoothness of the steering wheel, the 6th harmonic and the 12th harmonic in the steering wheel speed are used to compensate the steering wheel torque, and the compensation gain is used to adjust the compensation intensity to obtain the compensated harmonic.

[0040] Step S130 , generating a compensation torque according to the steering wheel torque and the compensation harmonics, so that the motor simulates the steering wheel feel based on the compensation torque.

[0041] In the embodiment of the present invention, the steering wheel torque is compensated by using the compensation harmonic to obtain the compensation torque, which is applied to the output of the motor through the motor control system to simulate a more natural and comfortable steering wheel feel.

[0042] In summary, the rotation fluctuation compensation method provided by the embodiment of the present invention calculates the compensation gain according to the steering wheel speed collected in real time, reversely compensates the steering wheel torque based on the 6th harmonic and the 12th harmonic in the steering wheel speed, and dynamically adjusts the compensation strength through the compensation gain, so that the motor can quickly respond to the change of the steering wheel speed and adjust the compensation harmonic in time. By adding reverse harmonics to the steering wheel torque, the torque fluctuation caused by the motor control and the cogging torque is offset, thereby reducing unnecessary vibration and impact, making the steering wheel rotation smoother, optimizing the steering wheel feel, significantly improving the driver's control experience, and ensuring driving stability and safety.

[0043] Optionally, a possible implementation method for generating compensation harmonics is provided below. Figure 2 , Figure 1 The sub-steps of step S120 may include: In step S121 , a dual parallel quasi-PR filter is used to generate residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed.

[0044] Step S122: determining the product of the residual harmonic and the compensation gain as the compensation harmonic.

[0045] In an embodiment of the present invention, a dual parallel quasi-proportional resonant (PR) filter is composed of two quasi-proportional resonant controllers in parallel. The design principle of the resonant controller is based on the internal model principle, which states that in a control system, if the output of the system needs to track a specific reference signal without static error, then the control system needs to include a model that matches the characteristics of the reference information, which can be a closed-loop model of the control system or an attribute model of the open-loop transfer function of the control system and the reference signal.

[0046] The amplitude gain of a traditional resonant controller at the fundamental frequency is theoretically infinite, so the resonant controller can track the reference signal corresponding to the fundamental frequency without steady-state error and is selective to the reference signal.

[0047] However, the amplitude gain of the quasi-proportional resonant controller in the dual parallel quasi-PR filter at the fundamental frequency is not infinite. According to the gain function of the quasi-proportional resonant controller, when the input signal frequency is the fundamental frequency, its gain is the sum of the resonant gain and the proportional gain. It is no longer like the traditional resonant controller where the amplitude gain at the fundamental frequency is infinite, thereby reducing the high sensitivity of the control system at the resonant frequency. In addition, the quasi-proportional resonant controller also increases the bandwidth (i.e., the resonant bandwidth), which can solve the steady-state error caused by frequency fluctuations when the gain at the non-resonant point is small, and optimizes the tracking and anti-interference capabilities of the control system.

[0048] It is worth mentioning that since the torque fluctuation is mainly affected by the 6th harmonic and the 12th harmonic, the dual-parallel quasi-PR filter uses two quasi-PR controllers to extract the 6th harmonic and the 12th harmonic from the steering wheel speed respectively, that is, one quasi-PR controller extracts the 6th harmonic from the steering wheel speed, and the other quasi-PR controller extracts the 12th harmonic from the steering wheel speed.

[0049] Specifically, the resonant frequency of the quasi-PR controller for extracting the 6th harmonic is set to the frequency of the 6th harmonic (i.e., 6 times the fundamental frequency). The quasi-PR controller for extracting the 6th harmonic processes the input signal (i.e., the frequency domain signal corresponding to the steering wheel speed), amplifies the signal component of the 6th harmonic, and at the same time, other frequency components are known, thereby extracting the 6th harmonic. Similarly, the quasi-PR controller for extracting the 12th harmonic is used to extract the 12th harmonic, and then the 6th harmonic and the 12th harmonic are integrated through a dual parallel quasi-PR filter to obtain the residual harmonic, and finally the compensation gain is used to adjust the intensity of the residual harmonic to obtain the compensation harmonic. The torque fluctuation is offset by reverse injection of the compensation harmonic.

[0050] Optionally, a possible implementation method for generating residual harmonics is provided below. The calculation formula for residual harmonics is:

[0051] in, is the residual harmonic; s is the complex variable of Laplace transform; is the proportional gain; is the resonant gain corresponding to the 6th harmonic; is the resonant gain corresponding to the 12th harmonic; is the resonant bandwidth corresponding to the 6th harmonic; is the resonant bandwidth corresponding to the 12th harmonic; is the base frequency.

[0052] In the embodiment of the present invention, the complex variable of the Laplace transform, the proportional gain, the resonant gain and the resonant bandwidth are all preset. Among them, the three parameters of the proportional gain, the resonant gain and the resonant bandwidth are adjusted by keeping two of the parameters unchanged to adjust the influence of the change of another parameter on the quasi-PR controller, and the optimal controller parameters are determined according to the Bode diagram data. For example, for the quasi-PR controller of the sixth harmonic, the proportional gain and the resonant gain are set as constant parameters, and the optimal resonant bandwidth is obtained by continuous adjustment.

[0053] Optionally, a possible implementation method for generating residual harmonics is provided below. The calculation formula of the compensation gain is:

[0054] Where, K is the compensation gain; is the steering wheel speed.

[0055] In the embodiment of the present invention, although the steering wheel speed has a proportional effect on the steering wheel torque, there is still a coefficient (i.e., compensation gain) between the steering wheel speed and the steering wheel torque. The compensation gain is inversely proportional to the steering wheel speed, i.e., as the steering wheel speed increases, the compensation gain decreases. As the steering wheel speed decreases, the compensation gain increases.

[0056] The steering wheel speed is a parameter that changes in real time. By monitoring the steering wheel speed in real time, we can accurately know the current motion state of the steering wheel. By dynamically calculating the compensation gain based on the real-time steering wheel speed, the motor can quickly respond to changes in the steering wheel speed and adjust the compensation harmonics in time, making the compensation more accurate, thus affecting the stability and performance of the system.

[0057] Optionally, a possible implementation method for generating compensation torque is provided below. Figure 2 , Figure 1 The sub-steps of step S130 may include: Step S131, generating a motor torque based on a steering wheel torque using a steer-by-wire control system; Step S132: determining the difference between the motor torque and the compensation harmonic as the compensation torque.

[0058] In an embodiment of the present invention, a steering-by-wire control system is used to generate a torque signal value that simulates the feel. The steering wheel torque is input into the steering-by-wire control system to generate a torque signal value corresponding to the steering wheel torque (i.e., the motor torque). The compensation torque is obtained by subtracting the compensation harmonic from the motor torque. The motor uses the compensation torque to simulate the steering wheel feel to offset the torque jitter.

[0059] As a possible implementation, Figure 3 For example, the TAS sensor collects the steering wheel speed and steering wheel torque, and the TAS sensor sends the steering wheel speed and steering wheel torque to the electronic control unit. The electronic control unit inputs the steering wheel speed into the dual parallel quasi-PR filter, extracts the 6th harmonic and the 12th harmonic in the steering wheel speed to generate residual harmonics, and uses the compensation gain and the residual harmonics output by the dual parallel quasi-PR filter to generate compensation harmonics. The electronic control unit inputs the steering wheel torque into the wire steering control system, generates the motor torque corresponding to the steering wheel torque, and inputs the difference between the motor torque and the compensation harmonic as the compensation torque into the motor control system. The motor control system drives the motor to rotate according to the compensation torque, which is equivalent to adding reverse harmonics to the motor control system to offset the fluctuations caused by control and cogging torque, thereby optimizing the steering wheel feel.

[0060] by Figure 4 As an example, the generation of compensation torque is explained. The frequency domain signal corresponding to the steering wheel speed is input into the dual parallel quasi-PR filter. The two quasi-PR controllers in the dual parallel quasi-PR filter process the frequency domain signal respectively. One quasi-PR controller extracts the 6th harmonic in the frequency domain signal, and the other quasi-PR controller extracts the 12th harmonic in the frequency domain signal. The dual parallel quasi-PR filter sums the 6th harmonic, the 12th harmonic and the proportional gain to obtain the residual harmonic. The product of the compensation gain and the residual harmonic is used as the compensation harmonic. The motor torque corresponding to the steering wheel torque is subtracted from the compensation harmonic to obtain the motor torque. The motor torque is used to drive the motor to rotate so that the driver can feel the torque generated by the motor, simulating the steering wheel feel similar to the traditional mechanical connection, thereby providing a suitable road feel, thereby ensuring that the driver has a natural, comfortable and safe driving experience.

[0061] Based on the same inventive concept, the basic principle and technical effect of the steering fluctuation compensation device provided in the embodiment of the present invention are the same as those in the above embodiment. For the sake of brief description, for parts not mentioned in this embodiment, reference may be made to the corresponding contents in the above embodiment.

[0062] Please refer to Figure 5 , Figure 5 A block diagram of a steering fluctuation compensation device 200 provided in an embodiment of the present invention. The steering fluctuation compensation device 200 includes a collection module 201, a processing module 202 and a compensation module 203.

[0063] A collection module 201 is used to collect steering wheel speed and steering wheel torque; The processing module 202 is used to determine the compensation gain according to the steering wheel speed; generate the compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain; The compensation module 203 is used to generate a compensation torque according to the steering wheel torque and the compensation harmonics, so that the motor simulates the steering wheel feel based on the compensation torque.

[0064] In summary, the steering fluctuation compensation device provided by the embodiment of the present invention calculates the compensation gain according to the steering wheel speed collected in real time, reversely compensates the steering wheel torque based on the 6th harmonic and the 12th harmonic in the steering wheel speed, and dynamically adjusts the compensation strength through the compensation gain, so that the motor can quickly respond to the change of the steering wheel speed and adjust the compensation harmonic in time. By adding reverse harmonics to the steering wheel torque, the torque fluctuation caused by the motor control and the cogging torque is offset, thereby reducing unnecessary vibration and impact, making the steering wheel turn smoother, optimizing the steering wheel feel, significantly improving the driver's control experience, and ensuring driving stability and safety.

[0065] Optionally, the acquisition module 201 is specifically configured to generate residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed by using a dual parallel quasi-PR filter; and determine the product of the residual harmonic and the compensation gain as the compensation harmonic.

[0066] Optionally, the processing module 202 is specifically used to obtain residual harmonics, and the calculation formula of the residual harmonics is:

[0067] in, is the residual harmonic; s is the complex variable of Laplace transform; is the proportional gain; is the resonant gain corresponding to the 6th harmonic; is the resonant gain corresponding to the 12th harmonic; is the resonant bandwidth corresponding to the 6th harmonic; is the resonant bandwidth corresponding to the 12th harmonic; is the base frequency.

[0068] Optionally, the processing module 202 is specifically used to obtain a compensation gain, and the calculation formula of the compensation gain is:

[0069] Where, K is the compensation gain; is the steering wheel speed.

[0070] Optionally, the compensation module 203 is specifically configured to generate a motor torque based on a steering wheel torque using a steer-by-wire control system; and determine a difference between the motor torque and the compensation harmonic as the compensation torque.

[0071] Please refer to Figure 6, is a block diagram of a vehicle 300 provided in an embodiment of the present invention. The vehicle 300 includes an electronic control unit 301 and a TAS sensor 302, the TAS sensor 302 is used to collect steering wheel speed and steering wheel torque, and the electronic control unit 301 executes a computer program to implement the steering fluctuation compensation method disclosed in the above embodiments.

[0072] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the electronic control unit 301, the steering fluctuation compensation method disclosed in the above embodiments is implemented.

[0073] The present embodiment also provides a program product, which, when executed by the electronic control unit 301, implements the steering fluctuation compensation method disclosed in the above embodiments.

[0074] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0075] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0076] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steering fluctuation compensation method, characterized in that: The method comprises: Collect steering wheel speed and steering wheel torque; determining a compensation gain according to the steering wheel speed; generating a compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain; A compensation torque is generated according to the steering wheel torque and the compensation harmonic, so that a motor simulates a steering wheel feel based on the compensation torque.

2. The steering fluctuation compensation method according to claim 1, characterized in that: The generating of the compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain comprises: generating residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed using a dual parallel quasi-PR filter; A product of the residual harmonic and the compensation gain is determined as the compensation harmonic.

3. The steering fluctuation compensation method according to claim 2, characterized in that: The calculation formula of the residual harmonics is: in, is the residual harmonic; s is the complex variable of Laplace transform; is the proportional gain; is the resonant gain corresponding to the 6th harmonic; is the resonant gain corresponding to the 12th harmonic; is the resonant bandwidth corresponding to the 6th harmonic; is the resonant bandwidth corresponding to the 12th harmonic; is the base frequency.

4. The steering fluctuation compensation method according to claim 1, characterized in that: The calculation formula of the compensation gain is: Where, K is the compensation gain; is the steering wheel speed.

5. The steering fluctuation compensation method according to claim 1, characterized in that: The generating the compensation torque according to the steering wheel torque and the compensation harmonic comprises: generating a motor torque based on the steering wheel torque using a steer-by-wire control system; The difference between the motor torque and the compensation harmonic is determined as the compensation torque.

6. A steering fluctuation compensation device, characterized in that: The device comprises: A collection module, used to collect steering wheel speed and steering wheel torque; A processing module, configured to determine a compensation gain according to the steering wheel speed; and generate a compensation harmonic according to the 6th harmonic and the 12th harmonic in the steering wheel speed and the compensation gain; The compensation module is used to generate a compensation torque according to the steering wheel torque and the compensation harmonic, so that the motor simulates the steering wheel feel based on the compensation torque.

7. The steering fluctuation compensator according to claim 6, characterized in that: The processing module is used to generate residual harmonics based on the 6th harmonic and the 12th harmonic in the steering wheel speed by using a dual parallel quasi-PR filter; and determine the product of the residual harmonic and the compensation gain as the compensation harmonic.

8. A vehicle, characterized in that: It comprises an electronic control unit and a TAS sensor, wherein the TAS sensor is used to collect steering wheel speed and steering wheel torque; the electronic control unit executes a computer program to implement the steering fluctuation compensation method described in any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by an electronic control unit, the steering fluctuation compensation method according to any one of claims 1 to 5 is implemented.

10. A program product, characterized in that When the program product is executed by an electronic control unit, the steering fluctuation compensation method as described in any one of claims 1 to 5 is implemented.

Images