Damping Compensation Control Method, Device, Controller and Storage Medium

Abstract

The present application relates to a damping compensation control method, device, controller, storage medium and computer program product. The method includes: obtaining vehicle driving information during vehicle driving, where the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel; based on the vehicle driving information, entering a damping compensation mode matching the vehicle driving information; in the matched damping compensation mode, determining the starting rotational speed of the damping compensation motor, and if it is determined based on the starting rotational speed of the damping compensation motor that the rotational speed of the assist motor meets a preset damping compensation control condition, then calculating a damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed; and controlling the damping torque of the assist motor according to the damping compensation current. Using this method can improve the damping compensation accuracy.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly to a damping compensation control method, device, controller, storage medium, and computer program product. Background Art

[0002] With the development of automotive technology, an electric power steering system refers to a system that provides steering assistance through an electric motor to assist the driver in steering during vehicle driving. In order to reduce the jitter of the steering wheel near the middle position caused by high-frequency interference of the road surface during straight-line driving of the vehicle, improve the driver's steering feel, and at the same time prevent overshoot during return, it is necessary to add damping current calculation to the control strategy of the electric power steering system, so as to realize the damping torque control of the actuator motor on the vehicle steering system.

[0003] The damping control technology in the traditional technology generally simply judges the damping compensation requirement based on the positive and negative of the motor speed and the steering wheel angle, without considering the actual direction of turning the steering wheel, so that the calculated damping compensation current cannot meet the actual damping compensation requirement, and ultimately the driving experience is not good. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a damping compensation control method, device, controller, computer-readable storage medium, and computer program product that can improve the damping compensation accuracy.

[0005] In a first aspect, the present application provides a damping compensation control method, and the method includes:

[0006] Obtain vehicle driving information during vehicle driving, where the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel;

[0007] Based on the vehicle driving information, enter a damping compensation mode that matches the vehicle driving information;

[0008] In the matching damping compensation mode, determine the starting speed of the damping compensation motor. If it is determined based on the starting speed of the damping compensation motor that the rotational speed of the assist motor meets a preset damping compensation control condition, then calculate a damping compensation current based on the starting speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed;

[0009] Control the damping torque of the assist motor according to the damping compensation current.

[0010] In one of the embodiments, the entering a damping compensation mode that matches the vehicle driving information based on the vehicle driving information includes

[0011] Based on the real-time vehicle speed, query the torque activation table to obtain the steering wheel outward travel torque determination value;

[0012] If the rotational speed of the assist motor is greater than 0 and the steering hand torque is greater than the outward travel torque determination value, it is determined that the steering wheel is in the right-turn outward travel, and enter the right-turn outward travel damping compensation mode;

[0013] If the rotational speed of the assist motor is greater than 0 and the steering hand torque is less than the outward travel torque determination value, it is determined that the steering wheel is in the left-turn return journey, and enter the left-turn return journey damping compensation mode;

[0014] If the rotational speed of the assist motor is less than 0 and the steering hand torque is less than the outward travel torque determination value, it is determined that the steering wheel is in the left-turn outward travel, and enter the left-turn outward travel damping compensation mode;

[0015] If the rotational speed of the assist motor is less than 0 and the steering hand torque is greater than the outward travel torque determination value, it is determined that the steering wheel is in the right-turn return journey, and enter the right-turn return journey damping compensation mode.

[0016] In one embodiment, the damping compensation mode includes any one of the left-turn outward travel damping compensation mode, the right-turn outward travel damping compensation mode, the left-turn return journey damping compensation mode, and the right-turn return journey damping compensation mode; the damping compensation motor activation speed includes any one of the outward travel damping compensation motor activation speed and the return journey damping compensation motor activation speed;

[0017] The determination of the damping compensation motor activation speed includes:

[0018] If the damping compensation mode is any one of the left-turn outward travel damping compensation mode or the right-turn outward travel damping compensation mode, based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the outward travel damping compensation motor speed activation table to obtain the outward travel damping compensation motor activation speed;

[0019] If the damping compensation mode is any one of the left-turn return journey compensation mode or the right-turn return journey compensation mode, based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the return journey damping compensation motor speed activation table to obtain the return journey damping compensation motor activation speed.

[0020] In one embodiment, the damping compensation motor activation speed includes any one of the outward travel damping compensation motor activation speed and the return journey damping compensation motor activation speed;

[0021] Based on the damping compensation motor activation speed, determining whether the rotational speed of the assist motor meets the preset damping compensation control conditions includes:

[0022] If the absolute value of the rotational speed of the assist motor is greater than the starting rotational speed of the return stroke damping compensation motor, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition;

[0023] If the absolute value of the rotational speed of the assist motor is greater than the starting rotational speed of the forward stroke damping compensation motor, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition.

[0024] In one embodiment, if the real-time vehicle speed is the calibrated vehicle speed, then calculating the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed includes:

[0025] Based on the real-time vehicle speed, query a first-order damping compensation coefficient table to obtain a first-order damping compensation coefficient, and based on the real-time vehicle speed, query a second-order damping compensation coefficient table to obtain a second-order damping compensation coefficient;

[0026] Calculate the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, the first-order damping compensation coefficient, and the second-order damping compensation coefficient.

[0027] In one embodiment, if the real-time vehicle speed is not the calibrated vehicle speed, then calculating the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed includes:

[0028] Based on the lower limit of the vehicle speed range where the real-time vehicle speed is located, determine the lower limit compensation current corresponding to the lower limit of the vehicle speed, and based on the upper limit of the vehicle speed range where the real-time vehicle speed is located, determine the upper limit compensation current corresponding to the upper limit of the vehicle speed;

[0029] Calculate the damping compensation current according to the real-time vehicle speed, the lower limit vehicle speed, the lower limit compensation current, and the upper limit compensation current.

[0030] In one embodiment, controlling the damping torque of the assist motor according to the damping compensation current includes:

[0031] Based on the real-time vehicle speed, look up the table to obtain the maximum value of the damping compensation current;

[0032] Compare the absolute value of the damping compensation current with the maximum value of the damping compensation current. If the absolute value of the damping compensation current is less than or equal to the maximum value of the damping compensation current, directly control the damping torque of the assist motor according to the damping compensation current;

[0033] If the absolute value of the damping compensation current is greater than the maximum value of the damping compensation current, control the damping torque of the assist motor according to the maximum value of the damping compensation current.

[0034] In a second aspect, the present application further provides a damping compensation control device, which includes:

[0035] An information acquisition module, configured to acquire vehicle driving information during vehicle driving, where the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel;

[0036] A mode determination module, configured to enter a damping compensation mode matching the vehicle driving information based on the vehicle driving information;

[0037] A current calculation module, configured to determine the starting rotational speed of the damping compensation motor in the matching damping compensation mode, and if it is determined that the rotational speed of the assist motor meets a preset damping compensation control condition based on the starting rotational speed of the damping compensation motor, calculate a damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed;

[0038] A compensation module, configured to control the damping torque of the assist motor according to the damping compensation current.

[0039] In a third aspect, the present application further provides a controller. The controller includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned damping compensation control method are implemented.

[0040] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned damping compensation control method are implemented.

[0041] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned damping compensation control method are implemented.

[0042] The above damping compensation control method, device, controller, storage medium, and computer program product obtain vehicle driving information during vehicle driving. The vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed. The steering hand torque is the torque applied by the driver to the steering wheel. Based on the vehicle driving information, enter a damping compensation mode that matches the vehicle driving information. In the matching damping compensation mode, determine the starting rotational speed of the damping compensation motor. If it is determined based on the starting rotational speed of the damping compensation motor that the rotational speed of the assist motor meets the preset damping compensation control condition, then calculate the damping compensation current based on the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed. Control the damping torque of the assist motor according to the damping compensation current. Among them, by using the rotational speed of the power steering motor in combination with the torque applied by the driver to the steering wheel and the real-time vehicle speed to determine the matching damping compensation mode, in the matching damping compensation mode, calculate the damping compensation current, and finally control the damping torque of the assist motor according to the damping compensation current, thereby improving the damping compensation effect, reducing the jitter of the steering wheel during high-speed vehicle driving, and improving the driver's feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic flowchart of the damping compensation control method in one embodiment;

[0044] Figure 2 is a schematic regional diagram of the damping compensation control method in one embodiment;

[0045] Figure 3 is a schematic current interpolation diagram of the damping compensation control method in one embodiment;

[0046] Figure 4 is a schematic flowchart of the damping compensation control method in another embodiment;

[0047] Figure 5 is a structural block diagram of the damping compensation control method device in one embodiment;

[0048] Figure 6 is an internal structural diagram of the controller in one embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0050] The damping compensation control method provided by the embodiment of the present application can be applied to a controller, where the controller can be a controller of an electric power steering system. In one embodiment, the controller obtains vehicle driving information during vehicle driving, and the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel; based on the vehicle driving information, it enters a damping compensation mode matching the vehicle driving information; in the matching damping compensation mode, it determines the starting rotational speed of the damping compensation motor, and if it is determined based on the starting rotational speed of the damping compensation motor that the rotational speed of the assist motor meets the preset damping compensation control condition, then it calculates the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed; and controls the damping torque of the assist motor according to the damping compensation current.

[0051] In one embodiment, as Figure 1 shown, a damping compensation control method is provided. Taking the application of this method to a controller as an example, it includes the following steps:

[0052] Step S102, obtain vehicle driving information during vehicle driving, where the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel.

[0053] Among them, the rotational speed of the assist motor can be obtained by the controller receiving the motor position signal sent by the motor position sensor and processing the motor position signal. The steering hand torque is the torque applied by the driver to the steering wheel. The controller can obtain the steering hand torque through the torque angle sensor inside the recirculating ball type electric steering gear. The real-time vehicle speed is the current running vehicle speed. The controller can obtain the real-time vehicle speed of the vehicle by communicating with the vehicle chassis bus.

[0054] Step S104, based on the vehicle driving information, enter a damping compensation mode matching the vehicle driving information.

[0055] Among them, if the vehicle driving information is different, correspondingly, the damping compensation mode will also be different. The controller will comprehensively evaluate according to the current rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed to enter a damping compensation mode matching the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed, and calculate the damping compensation current in the matching damping compensation mode.

[0056] In one embodiment, based on the vehicle driving information, entering a damping compensation mode matching the vehicle driving information includes: querying a torque activation table based on the real-time vehicle speed to obtain a steering wheel outward torque determination value; if the rotational speed of the assist motor is greater than 0 and the steering hand torque is greater than the outward torque determination value, determining that the steering wheel is in the right-turn outward journey and entering the right-turn outward journey damping compensation mode; if the rotational speed of the assist motor is greater than 0 and the steering hand torque is less than the outward torque determination value, determining that the steering wheel is in the left-turn return journey and entering the left-turn return journey damping compensation mode; if the rotational speed of the assist motor is less than 0 and the steering hand torque is less than the outward torque determination value, determining that the steering wheel is in the left-turn outward journey and entering the left-turn outward journey damping compensation mode; if the rotational speed of the assist motor is less than 0 and the steering hand torque is greater than the outward torque determination value, determining that the steering wheel is in the right-turn return journey and entering the right-turn return journey damping compensation mode.

[0057] Wherein, the torque activation table can be a predefined correspondence between the vehicle speed and the outward torque activation value. The torque activation table can be a two-dimensional array with 17 rows and 1 column, where the rows represent the vehicle speed and the column represents the outward torque activation value, which is determined through vehicle calibration. According to the vehicle characteristics, the vehicle speeds corresponding to the 17 rows can be set to 0 Km / h, 10 Km / h, 20 Km / h, 30 Km / h... 150 Km / h, 160 Km / h.

[0058] Wherein, the outward torque determination value can be obtained by the controller querying the torque activation table based on the real-time vehicle speed. For example, if the real-time vehicle speed is 30 km / h, the controller can query the torque activation table and use the outward torque activation value corresponding to the vehicle speed of 30 Km / h in the torque activation table as the outward torque determination value. When the real-time vehicle speed is 35 km / h or other vehicle speeds that do not belong to the speeds corresponding to the 17 rows, the controller can perform linear interpolation calculations to obtain the outward torque determination value. Among them, the outward torque determination value is a value with a direction. If the outward torque determination value is greater than 0, it can indicate that the outward torque determination value is positive. If the outward torque determination value is less than 0, it can indicate that the outward torque determination value is negative.

[0059] Among them, the right-turn outbound journey can be the process of the steering wheel turning right from the middle position. For the right-turn outbound journey, the right-turn outbound damping compensation mode can be entered. The controller can compensate the right-turn travel in the right-turn outbound damping compensation mode. The left-turn outbound journey can be the process of the steering wheel turning left from the middle position. For the left-turn outbound journey, the left-turn outbound damping compensation mode can be entered. The controller can compensate the left-turn travel in the left-turn outbound damping compensation mode. The left-turn return journey can be the process of the steering wheel turning from the left to the middle position. For the left-turn return journey, the left-turn return damping compensation mode can be entered. The controller can compensate the left-turn return in the left-turn return damping compensation mode. The right-turn return journey can be the process of the steering wheel turning from the right to the middle position. For the right-turn return journey, the right-turn return damping compensation mode can be entered. The controller can compensate the right-turn return in the right-turn return damping compensation mode. Thus, the controller can subsequently target the outbound and return journeys of the steering wheel to reduce the jitter of the steering wheel near the middle position when the vehicle is driving at high speed and improve the driver's feel.

[0060] In one embodiment, when the steering wheel is turned to the right, the steering wheel torque is positive and the corresponding power assist motor speed is positive; when the steering wheel is turned to the left, the steering wheel torque is negative and the corresponding power assist motor speed is negative. Therefore, for the outbound journey, the directions of the steering wheel torque and the power assist motor speed are the same. As Figure 2 shown, within regions 1 and 3, the directions of the power assist motor speed and the steering wheel torque are the same, which is the process of the steering wheel turning from the middle position to both sides. Therefore, both regions 1 and 3 can be used as the right-turn outbound journey or the left-turn outbound journey. In this embodiment, region 1 is set as the right-turn outbound journey (at this time, the power assist motor speed is positive and the steering wheel torque is also positive), and region 3 is set as the left-turn outbound journey (at this time, the power assist motor speed is negative and the steering wheel torque is also negative). Within regions 2 and 4, the directions of the power assist motor speed and the steering wheel torque are opposite, which is the process of the steering wheel turning from both sides to the middle position. Both regions 2 and 4 can be used as the left-turn return journey or the right-turn return journey. In this embodiment, region 2 is set as the right-turn return journey (at this time, the power assist motor speed is negative and the steering wheel torque is positive), and region 4 is set as the left-turn return journey (at this time, the power assist motor speed is positive and the steering wheel torque is negative).

[0061] In one embodiment, in combination with Figure 2 , when the controller determines that the power assist motor speed is greater than 0 and the steering hand torque is greater than the outbound torque determination value ( Figure 2 T0 in it), it is determined that the steering wheel is in the right-turn outbound journey and enters the right-turn outbound damping compensation mode; if the power assist motor speed is greater than 0 and the steering hand torque is less than the outbound torque determination value ( Figure 2 T0 in it), it is determined that the steering wheel is in the left-turn return journey and enters the left-turn return damping compensation mode; if the power assist motor speed is less than 0 and the steering hand torque is less than the outbound torque determination value (Figure 2 If the rotational speed of the power assist motor is greater than 0 and the steering hand torque is greater than the outbound torque determination value (-T0 in Figure 2 ), it is determined that the steering wheel is in the left-turn outbound journey, and the left-turn outbound damping compensation mode is entered; if the rotational speed of the power assist motor is less than 0 and the steering hand torque is greater than the outbound torque determination value (-T0 in Figure 2 ), it is determined that the steering wheel is in the right-turn return journey, and the right-turn return damping compensation mode is entered. Figure 2 Figure 2

[0062] Step S106, in the matching damping compensation mode, determine the starting speed of the damping compensation motor. If it is determined based on the starting speed of the damping compensation motor that the rotational speed of the power assist motor meets the preset damping compensation control conditions, calculate the damping compensation current according to the starting speed of the damping compensation motor, the rotational speed of the power assist motor, and the real-time vehicle speed.

[0063] Among them, the starting speed of the damping compensation motor can be the speed used to determine whether to start the damping torque control of the vehicle steering system. Similarly, when the controller determines the starting speed of the damping compensation motor, it can also be obtained by querying the damping compensation motor speed starting table. The damping compensation motor speed starting table can be a two-dimensional array with 17 rows and 1 column, where the rows represent the vehicle speed and the columns represent the starting speed of the damping compensation motor, which is determined by vehicle calibration. When the controller determines that the damping torque control of the vehicle steering system can be started, the computer device can calculate the damping compensation current according to the starting speed of the damping compensation motor, the rotational speed of the power assist motor, and the real-time vehicle speed.

[0064] Step S108, control the damping torque of the power assist motor according to the damping compensation current.

[0065] Among them, the controller can control the magnitude and direction of the damping torque of the power assist motor according to the calculated damping compensation current.

[0066] In the above damping compensation control method, vehicle driving information during vehicle driving is obtained. The vehicle driving information includes the rotational speed of the power assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel; based on the vehicle driving information, enter the damping compensation mode matching the vehicle driving information; in the matching damping compensation mode, determine the starting speed of the damping compensation motor. If it is determined based on the starting speed of the damping compensation motor that the rotational speed of the power assist motor meets the preset damping compensation control conditions, calculate the damping compensation current according to the starting speed of the damping compensation motor, the rotational speed of the power assist motor, and the real-time vehicle speed; control the damping torque of the power assist motor according to the damping compensation current. Among them, by using the rotational speed of the power steering motor combined with the torque applied by the driver to the steering wheel and the real-time vehicle speed to determine the matching damping compensation mode, in the matching damping compensation mode, calculate the damping compensation current, and finally control the damping torque of the power assist motor according to the damping compensation current, thereby improving the damping compensation effect, reducing the vibration of the steering wheel during high-speed vehicle driving, and improving the driver's feel.

[0067] In one embodiment, the damping compensation mode includes any one of a left-turn outbound damping compensation mode, a right-turn outbound damping compensation mode, a left-turn return damping compensation mode, and a right-turn return damping compensation mode; the damping compensation motor starting speed includes any one of an outbound damping compensation motor starting speed and a return damping compensation motor starting speed; determining the damping compensation motor starting speed includes: if the damping compensation mode is any one of a left-turn outbound damping compensation mode or a right-turn outbound damping compensation mode, then based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the outbound damping compensation motor speed starting table to obtain the outbound damping compensation motor starting speed; if the damping compensation mode is any one of a left-turn return compensation mode or a right-turn return compensation mode, then based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the return damping compensation motor speed starting table to obtain the return damping compensation motor starting speed.

[0068] Among them, for the outbound and return trips of the vehicle, there are an outbound damping compensation motor speed starting table and a return damping compensation motor speed starting table. The vehicle speed range is determined according to the real-time vehicle speed and the 17 vehicle speeds mentioned in the above embodiment. For example, if the real-time vehicle speed is 35 km / h, then find the two vehicle speeds closest to 35 km / h among the 17 vehicle speeds to form a vehicle speed range. For the case where the vehicle speed is 35 km / h, the upper limit of the vehicle speed is 40 km / h, and the lower limit of the vehicle speed is 30 km / h. If the real-time vehicle speed is 20 km / h, then find the two vehicle speeds closest to 20 km / h among the 17 vehicle speeds to form a vehicle speed range. Secondly, for the case where the real-time vehicle speed is 20 km / h, since 20 km / h belongs to the 17 vehicle speeds mentioned in the above embodiment, the real-time vehicle speed (20 km / h) can be directly used to query the damping compensation motor speed starting table. The damping compensation motor starting speed decreases as the vehicle speed increases. Therefore, for both the outbound and return trips, the controller queries using the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located.

[0069] Specifically, for the left-turn outbound damping compensation mode or the right-turn outbound damping compensation mode, the controller can use the upper limit vehicle speed of the interval where the real-time vehicle speed is located, and after dividing the upper limit vehicle speed by 10, rounding down and adding 1, query the outbound damping compensation motor speed starting table to obtain the damping compensation motor starting speed. For the left-turn return compensation mode or the right-turn return compensation mode, the controller can use the upper limit vehicle speed of the interval where the real-time vehicle speed is located, and after dividing the upper limit vehicle speed by 10, rounding down and adding 1, query the return damping compensation motor speed starting table to obtain the damping compensation motor starting speed.

[0070] In the above embodiments, when the controller determines the starting speed of the damping compensation motor, for the forward and return trips, corresponding starting speed tables of the damping compensation motor are respectively set, and during the query, considering the situation that the starting speed of the damping compensation motor decreases as the vehicle speed increases, the upper limit of the interval where the real-time vehicle speed is located is selected for calculation. This not only improves the accuracy of the return trip damping compensation motor speed but also enables damping compensation to be carried out faster to a certain extent.

[0071] In one of the embodiments, the starting speed of the damping compensation motor includes any one of the starting speed of the damping compensation motor for the forward trip and the starting speed of the damping compensation motor for the return trip; determining whether the speed of the assist motor meets the preset damping compensation control condition based on the starting speed of the damping compensation motor includes: if the absolute value of the speed of the assist motor is greater than the starting speed of the damping compensation motor for the forward trip, determining that the speed of the assist motor meets the preset damping compensation control condition; if the absolute value of the speed of the assist motor is greater than the starting speed of the damping compensation motor for the return trip, determining that the speed of the assist motor meets the preset damping compensation control condition.

[0072] Among them, for the forward trip, if the absolute value of the speed of the assist motor is greater than the starting speed of the damping compensation motor for the forward trip, it is determined that the speed of the assist motor meets the preset damping compensation control condition. Therefore, the calculation of the damping compensation current for the left-turn forward trip or the right-turn forward trip can be entered; otherwise, the damping compensation control is exited. Specifically, when the absolute value of the speed of the assist motor is greater than the starting speed of the damping compensation motor at startup, there are two possible situations: that is, the actual speed of the assist motor is negative and its absolute value is greater than the starting speed of the damping compensation motor at startup, and the actual speed of the assist motor is positive and the speed of the assist motor is greater than the starting speed of the damping compensation motor at startup. Therefore, for the situation where the speed of the assist motor is negative, when the speed of the assist motor is less than the starting speed of the damping compensation motor at startup, the calculation of the damping compensation current for the left-turn forward trip can be entered; when the speed of the assist motor is positive and the speed of the assist motor is greater than the starting speed of the damping compensation motor at startup, the calculation of the damping compensation current for the right-turn forward trip can be entered; otherwise, the damping compensation control is exited.

[0073] For the return journey, if the absolute value of the speed of the assist motor is greater than the starting speed of the return damping compensation motor, it is determined that the speed of the assist motor meets the preset damping compensation control condition. Therefore, the calculation of the damping compensation current for the left-turn return or right-turn return can be entered. Otherwise, the damping compensation control is exited. Specifically, when the absolute value of the speed of the assist motor is greater than the starting speed of the return damping compensation motor, there can be two possible situations: that is, the actual speed of the assist motor is negative and its absolute value is greater than the starting speed of the return damping compensation motor, and the actual speed of the assist motor is positive and the speed of the assist motor is greater than the starting speed of the return damping compensation motor. Therefore, for the situation where the speed of the assist motor is negative, when the speed of the assist motor is less than the starting speed of the return damping compensation motor, the calculation of the damping compensation current for the right-turn return can be entered. When the speed of the assist motor is positive and the speed of the assist motor is greater than the starting speed of the forward journey damping compensation motor, the calculation of the damping compensation current for the left-turn return can be entered. Otherwise, the damping compensation control is exited.

[0074] In the above embodiments, the controller sets the corresponding starting speeds of the damping compensation motors for the return journey and the forward journey respectively, so as to improve the judgment accuracy of whether to enter the damping compensation control.

[0075] In one of the embodiments, if the real-time vehicle speed is the calibrated vehicle speed, the damping compensation current is calculated based on the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed, including: querying the first-order damping compensation coefficient table based on the real-time vehicle speed to obtain the first-order damping compensation coefficient, and querying the second-order damping compensation coefficient table based on the real-time vehicle speed to obtain the second-order damping compensation coefficient; calculating the damping compensation current according to the starting speed of the damping compensation motor, the speed of the assist motor, the first-order damping compensation coefficient, and the second-order damping compensation coefficient.

[0076] Among them, the calibrated vehicle speed is the vehicle speed calibrated in line 17. The first-order damping compensation coefficient table can include the return first-order damping compensation coefficient table and the forward journey first-order damping compensation coefficient table. The return first-order damping compensation coefficient table is a two-dimensional array with 17 rows and 1 column, where the row is the vehicle speed and the column is the return first-order damping compensation coefficient. The return second-order damping compensation coefficient table is a two-dimensional array with 17 rows and 1 column, where the row is the vehicle speed and the column is the return second-order damping compensation coefficient, which is determined by vehicle calibration. Similarly, the forward journey first-order damping compensation coefficient table is a two-dimensional array with 17 rows and 1 column, where the row is the vehicle speed and the column is the forward journey first-order damping compensation coefficient. The forward journey second-order damping compensation coefficient table is a two-dimensional array with 17 rows and 1 column, where the row is the vehicle speed and the column is the forward journey second-order damping compensation coefficient, which is determined by vehicle calibration. The first-order damping compensation coefficient and the second-order damping compensation coefficient are both related to the vehicle speed, and both the first-order damping compensation coefficient and the second-order damping compensation coefficient are greater than 0.

[0077] Specifically, the following formula is the calculation formula for the damping compensation current:

[0078] I d = -[K d1 *(ω m - ω0)* + K d2 *ω m 2 ; (1)

[0079] I d = K d1 *(ω m - ω0)* + K d2 *ω m 2 ; (2)

[0080] Wherein, I d represents the damping compensation current, K d1 represents the first-order damping compensation coefficient, K d2 represents the second-order damping compensation coefficient, ω m represents the rotational speed of the assist motor, and ω0 represents the starting rotational speed of the damping compensation motor. Formula 1 is for the case of turning the steering wheel to the right, and formula 2 is for the case of turning the steering wheel to the left. Among them, the negative sign before formula 1 indicates the direction.

[0081] When performing damping compensation for the right-turn outbound or right-turn return journey, the current calculation can be carried out according to formula 1. Substitute the outbound first-order damping compensation coefficient, outbound second-order damping compensation coefficient, starting rotational speed of the damping compensation motor, and rotational speed of the assist motor into formula 1 to obtain the right-turn outbound compensation current. Substitute the return first-order damping compensation coefficient, return second-order damping compensation coefficient, starting rotational speed of the damping compensation motor, and rotational speed of the assist motor into formula 1 to obtain the right-turn return compensation current.

[0082] When performing damping compensation for the left-turn outbound or left-turn return journey, the current calculation can be carried out according to formula 2. Substitute the outbound first-order damping compensation coefficient, outbound second-order damping compensation coefficient, starting rotational speed of the damping compensation motor, and rotational speed of the assist motor into formula 2 to obtain the left-turn outbound compensation current. Substitute the return first-order damping compensation coefficient, return second-order damping compensation coefficient, starting rotational speed of the damping compensation motor, and rotational speed of the assist motor into formula 2 to obtain the left-turn return compensation current.

[0083] In the above embodiments, the damping current is obtained through calculation. The damping torque generated by the damping current can play a role in suppressing the steering wheel jitter. At the same time, by adding the first-order damping compensation coefficient and the second-order damping compensation coefficient for the outbound and return journeys of the steering wheel, the steering feel is controlled more precisely. Even when the driver frequently switches between normal steering and returning steering, the steering wheel will not fluctuate, further improving the driving experience.

[0084] In one embodiment, if the real-time vehicle speed is not the calibrated vehicle speed, the damping compensation current is calculated based on the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed, including: determining the lower limit compensation current corresponding to the lower limit of the vehicle speed range where the real-time vehicle speed is located, and determining the upper limit compensation current corresponding to the upper limit of the vehicle speed range where the real-time vehicle speed is located; calculating the damping compensation current based on the real-time vehicle speed, the lower limit vehicle speed, the lower limit compensation current, and the upper limit compensation current.

[0085] Wherein, when the real-time vehicle speed is not the vehicle speed calibrated in line 17, the controller can determine that the real-time vehicle speed is not the calibrated vehicle speed, and then the damping compensation current can be calculated by linear interpolation. Specifically, as Figure 3 shown, the coordinates of point P are (I q , v), indicating that the damping compensation current at the real-time vehicle speed v is I q , and the two endpoints of the interval where point P is located are Q n (I dn , v n ) is the lower limit vehicle speed v n corresponding to the damping compensation current I dn of the vehicle speed range where the real-time vehicle speed is located, Q n+1 (I d(n+1) , v n+1 ) is the upper limit vehicle speed v n+1 corresponding to the damping compensation current I d(n+1) of the vehicle speed range where the real-time vehicle speed is located. I dn can be obtained by expanding the calculation of the damping compensation current based on the lower limit vehicle speed v n , I d(n+1) can be obtained by expanding the calculation of the damping compensation current for the upper limit vehicle speed v n+1 , and then the final damping compensation current I q is calculated by linear interpolation. The calculation formula is as follows:

[0086]

[0087] Wherein, when calculating by expanding the above formula, since the starting speed of the damping compensation motor decreases as the vehicle speed increases, when the speed of the assist motor is greater than the starting speed of the damping compensation motor corresponding to the line where the upper limit vehicle speed of the vehicle speed range is located and less than the starting speed of the damping compensation motor corresponding to the line where the lower limit vehicle speed of the vehicle speed range is located, the calculated damping compensation current for the lower limit vehicle speed v n is 0, then the damping compensation current I n corresponding to the lower limit vehicle speed v dn = 0, and the upper limit vehicle speed v n+1The corresponding damping compensation current can be calculated by expanding the above formulas (1) and (2) to obtain the damping compensation current corresponding to the upper limit vehicle speed, and finally, a limit calculation is performed on the calculated damping compensation current.

[0088] In the above embodiments, when the real-time vehicle speed is not the calibrated vehicle speed, the controller calculates the damping compensation current by interpolation, which can improve the calculation accuracy of the damping compensation current.

[0089] In one of the embodiments, controlling the damping torque of the assist motor according to the damping compensation current includes: obtaining the maximum value of the damping compensation current by looking up a table based on the real-time vehicle speed; comparing the absolute value of the damping compensation current with the maximum value of the damping compensation current. If the absolute value of the damping compensation current is less than or equal to the maximum value of the damping compensation current, the damping torque of the assist motor is directly controlled according to the damping compensation current; if the absolute value of the damping compensation current is greater than the maximum value of the damping compensation current, the damping torque of the assist motor is controlled according to the maximum value of the damping compensation current.

[0090] Among them, after the controller calculates the damping compensation current, it can perform a limit processing on the damping compensation current. Specifically, the controller can query the damping compensation current table based on the real-time vehicle speed to obtain the maximum value I of the damping compensation current max , and compare the damping compensation current I d with the maximum value I of the damping compensation current max . When the absolute value |I d | ≤ I max , the final damping compensation current is I q = I d , that is, the damping torque of the assist motor is directly controlled according to the damping compensation current. When the absolute value |I d | ≥ I max and I d > 0, the final damping compensation current is I q = I max , that is, the damping torque of the assist motor is controlled according to the maximum value of the damping compensation current. When |I d | ≥ I max and I d < 0, the damping current is I q = -I max , that is, the damping torque of the assist motor is also controlled according to the maximum value of the damping compensation current. Among them, the damping compensation current limit table is a two-dimensional array with 17 rows and 1 column, where the rows are the vehicle speeds and the columns are the maximum values of the damping compensation currents, which are determined by vehicle calibration.

[0091] In one of the embodiments, such as Figure 4As shown in the figure, it is a schematic flowchart of a damping compensation control method in an embodiment:

[0092] Among them, in this embodiment, structures such as a controller, a booster motor, and a recirculating ball mechanical steering gear are included. When performing damping compensation control, it specifically includes the following steps:

[0093] First, the controller can obtain the booster motor speed, the steering hand torque, and the vehicle speed. Among them, the booster motor speed can be obtained by the controller receiving the motor position signal sent by the motor position sensor and processing the motor position signal. The steering hand torque is the torque applied by the driver to the steering wheel. The controller can obtain the steering hand torque through the torque angle sensor inside the recirculating ball electric power steering gear. The controller can obtain the current operating vehicle speed of the vehicle by communicating with the vehicle chassis bus.

[0094] After obtaining the booster motor speed, the steering hand torque, and the real-time vehicle speed, the controller can judge the damping compensation mode. There are a total of four damping compensation modes. When the steering wheel is turned to the right, the steering wheel torque is positive, and the corresponding booster motor speed is positive; when the steering wheel is turned to the left, the steering wheel torque is negative, and the corresponding booster motor speed is negative. Therefore, for the outbound journey, the directions of the steering wheel torque and the booster motor speed are the same. Specifically, the following method can be used to judge the damping compensation mode: If the motor speed ω m > 0 and the steering hand torque is greater than the outbound torque determination value T0 of the steering wheel, it is determined that the steering wheel is turning right on the outbound journey, and then it enters the right-turn outbound damping compensation mode; if the motor speed ω m > 0 and the steering hand torque is less than the outbound torque determination value T0 of the steering wheel, it is determined that the steering wheel is turning left on the return journey, and then it enters the left-turn return damping compensation mode; if the motor speed ω m < 0 and the steering hand torque is less than the outbound torque determination value -T0 of the steering wheel, it is determined that the steering wheel is turning left on the outbound journey, and then it enters the left-turn outbound damping compensation mode; if the motor speed ω m < 0 and the steering hand torque is greater than the outbound torque determination value -T0 of the steering wheel, it is determined that the steering wheel is turning right on the return journey, and then it enters the right-turn return damping compensation mode.

[0095] Among them, the outbound torque determination value is obtained by querying the torque opening table through the real-time vehicle speed. The torque opening table can be the defined corresponding relationship between the vehicle speed and the outbound torque opening value. The torque opening table can be a two-dimensional array with 17 rows and 1 column, where the rows are the vehicle speeds and the columns are the outbound torque opening values, which are determined through vehicle calibration. According to the vehicle characteristics, the vehicle speeds corresponding to the 17 rows can be set to 0Km / h, 10Km / h, 20Km / h, 30Km / h......150Km / h, 160Km / h.

[0096] After determining the damping compensation mode, the controller can further determine whether to enter the damping compensation current calculation. For the left-turn outbound damping compensation mode or the right-turn outbound damping compensation mode, the controller can use the real-time vehicle speed or the upper limit vehicle speed of the interval where the real-time vehicle speed is located. After dividing the upper limit vehicle speed by 10, rounding up and adding 1, the controller can query the outbound damping compensation motor speed opening table to obtain the damping compensation motor opening speed. For the left-turn return compensation mode or the right-turn return compensation mode, the controller can use the real-time vehicle speed or the upper limit vehicle speed of the interval where the real-time vehicle speed is located. After dividing the upper limit vehicle speed by 10, rounding up and adding 1, the controller can query the return damping compensation motor speed opening table to obtain the damping compensation motor opening speed.

[0097] Among them, for the outbound journey, when the absolute value of the assist motor speed is greater than the outbound damping compensation motor starting speed, there are two possible situations: that is, the actual assist motor speed is negative and less than the outbound damping compensation motor starting speed, and the actual assist motor speed is positive and the assist motor speed is greater than the outbound damping compensation motor starting speed. Therefore, for the situation where the assist motor speed is negative, when the assist motor speed is less than the outbound damping compensation motor starting speed, the damping compensation current calculation for the left-turn outbound journey can be entered. When the assist motor speed is positive and the assist motor speed is greater than the outbound damping compensation motor starting speed, the damping compensation current calculation for the right-turn outbound journey can be entered. Otherwise, the damping compensation control is exited. When the absolute value of the assist motor speed is greater than the return damping compensation motor starting speed, there are two possible situations: that is, the actual assist motor speed is negative and less than the return damping compensation motor starting speed, and the actual assist motor speed is positive and the assist motor speed is greater than the return damping compensation motor starting speed. Therefore, for the situation where the assist motor speed is negative, when the assist motor speed is less than the return damping compensation motor starting speed, the damping compensation current calculation for the right-turn return journey can be entered. When the assist motor speed is positive and the assist motor speed is greater than the outbound damping compensation motor starting speed, the damping compensation current calculation for the left-turn return journey can be entered. Otherwise, the damping compensation control is exited.

[0098] Furthermore, when entering the damping compensation mode calculation, when the real-time vehicle speed is the calibrated vehicle speed, the calculation formula for the damping compensation current is as follows:

[0099] I d =-[K d1 *(ω m -ω0)*+K d2 *ω m 2 ; (1)

[0100] I d =K d1 *(ω m -ω0)*+K d2 *ωm 2 ; (2)

[0101] wherein, I d represents the damping compensation current, K d1 represents the first-order damping compensation coefficient, K d2 represents the second-order damping compensation coefficient, ω m represents the speed of the assist motor, and ω0 represents the starting speed of the damping compensation motor. Formula 1 is for the case of the steering wheel turning right, and formula 2 is for the case of the steering wheel turning left. Among them, the negative sign before formula 1 represents the direction.

[0102] When performing damping compensation for the right-turn outbound or right-turn return journey, the current calculation can be carried out according to formula 1. Substitute the outbound first-order damping compensation coefficient, outbound second-order damping compensation coefficient, starting speed of the damping compensation motor, and speed of the assist motor into formula 1 to obtain the right-turn outbound compensation current. Substitute the return first-order damping compensation coefficient, return second-order damping compensation coefficient, starting speed of the damping compensation motor, and speed of the assist motor into formula 1 to obtain the right-turn return compensation current.

[0103] When performing damping compensation for the left-turn outbound or left-turn return journey, the current calculation can be carried out according to formula 2. Substitute the outbound first-order damping compensation coefficient, outbound second-order damping compensation coefficient, starting speed of the damping compensation motor, and speed of the assist motor into formula 2 to obtain the left-turn outbound compensation current. Substitute the return first-order damping compensation coefficient, return second-order damping compensation coefficient, starting speed of the damping compensation motor, and speed of the assist motor into formula 2 to obtain the left-turn return compensation current. The damping torque generated by the damping current can play a role in suppressing the steering wheel jitter. At the same time, by adding the first-order damping compensation coefficient and second-order damping compensation coefficient of the steering wheel outbound and return journeys, the steering feel is more finely controlled. Even when the driver frequently switches between normal steering and return steering, the steering wheel will not fluctuate, further improving the driving experience.

[0104] When the real-time vehicle speed is not the calibrated vehicle speed, the damping compensation current can be calculated by linear interpolation. Specifically, as Figure 3 shown, the coordinates of point P are (I q , v), indicating that the damping compensation current at the real-time vehicle speed v is I q . The two endpoints of the interval where point P is located are Q n (I dn , v n ) which is the lower limit vehicle speed of the vehicle speed interval where the real-time vehicle speed is located, and the damping compensation current corresponding to v n is I dn . Q n+1 (I d(n+1) , v n+1 ) is the upper limit vehicle speed of the vehicle speed interval where the real-time vehicle speed is located, and v n+1The corresponding damping compensation current I d(n+1) , I dn can be obtained by calculating the damping compensation current based on the lower limit vehicle speed v n . I d(n+1) can be obtained by calculating the damping compensation current for the upper limit vehicle speed v n+1 , and then linearly interpolating to calculate the final damping compensation current as I q . The calculation formula is as follows:

[0105]

[0106] Among them, when using the above formula for expansion calculation, since the starting speed of the damping compensation motor decreases as the vehicle speed increases, therefore, when the speed of the assist motor is greater than the starting speed of the damping compensation motor corresponding to the upper limit vehicle speed line of the vehicle speed interval where the vehicle speed is located and less than the starting speed of the damping compensation motor corresponding to the lower limit vehicle speed line of the vehicle speed interval where the vehicle speed is located, the lower limit vehicle speed v n is calculated to have a damping compensation current of 0, then the damping compensation current I n corresponding to the lower limit vehicle speed v dn = 0. The damping compensation current corresponding to the upper limit vehicle speed v n+1 can be calculated by expanding the above formula (1) and formula (2) to obtain the damping compensation current corresponding to the upper limit vehicle speed, and finally perform a limiting calculation on the calculated damping compensation current.

[0107] Among them, regardless of whether the real-time vehicle speed is the calibrated vehicle speed, after calculating the damping compensation current and before performing damping compensation based on the damping compensation current, a limiting calculation will be performed to obtain the final damping compensation current. Specifically, during the limiting process, the controller can query the damping compensation current table based on the real-time vehicle speed to obtain the maximum damping compensation current I max , and compare the damping compensation current I d with the maximum damping compensation current I max . When the absolute value of the damping compensation current |I d | ≤ I max , then the final damping compensation current is I a = I d , that is, directly control the damping torque of the assist motor according to the damping compensation current. When the absolute value of the damping compensation current |I d | ≥ I max and I d > 0, then the final damping compensation current is I q = I max , that is, control the damping torque of the assist motor according to the maximum damping compensation current. When |I d | ≥ I max and I dIf < 0, the damping current is I q = -I max That is, based on the maximum value of the damping compensation current, the damping torque of the assist motor is controlled. Among them, the damping compensation current limit table is a two-dimensional array with 17 rows and 1 column, where the row represents the vehicle speed and the column represents the maximum value of the damping compensation current, which is determined by vehicle calibration.

[0108] Based on the final damping compensation current, the magnitude and direction of the damping torque of the assist motor are controlled, thereby realizing the damping control of the vehicle's electric power steering system.

[0109] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps or stages in other steps.

[0110] Based on the same inventive concept, the embodiments of the present application also provide a damping compensation control device for implementing the damping compensation control method described above. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following embodiments of the damping compensation control device can refer to the limitations on the damping compensation control method in the above text, and will not be repeated here.

[0111] In one embodiment, as Figure 5 shown, a damping compensation control device 500 is provided, including: an information acquisition module 502, a mode determination module 504, a current calculation module 506, and a compensation module 508, where:

[0112] The information acquisition module 502 is configured to acquire vehicle driving information during vehicle driving. The vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel.

[0113] The mode determination module 504 is configured to enter a damping compensation mode that matches the vehicle driving information based on the vehicle driving information.

[0114] The current calculation module 506 is configured to determine the starting speed of the damping compensation motor in the matching damping compensation mode. If it is determined based on the starting speed of the damping compensation motor that the speed of the assist motor meets the preset damping compensation control condition, the damping compensation current is calculated based on the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed.

[0115] The compensation module 508 is configured to control the damping torque of the assist motor according to the damping compensation current.

[0116] In one embodiment, the mode determination module is further configured to query the torque start table based on the real-time vehicle speed to obtain the steering wheel outgoing torque determination value; if the speed of the assist motor is greater than 0 and the steering hand torque is greater than the outgoing torque determination value, it is determined that the steering wheel is in the right-turn outgoing process and enters the right-turn outgoing damping compensation mode; if the speed of the assist motor is greater than 0 and the steering hand torque is less than the outgoing torque determination value, it is determined that the steering wheel is in the left-turn return process and enters the left-turn return damping compensation mode; if the speed of the assist motor is less than 0 and the steering hand torque is less than the outgoing torque determination value, it is determined that the steering wheel is in the left-turn outgoing process and enters the left-turn outgoing damping compensation mode; if the speed of the assist motor is less than 0 and the steering hand torque is greater than the outgoing torque determination value, it is determined that the steering wheel is in the right-turn return process and enters the right-turn return damping compensation mode.

[0117] In one embodiment, the damping compensation mode includes any one of the left-turn outgoing damping compensation mode, the right-turn outgoing damping compensation mode, the left-turn return damping compensation mode, and the right-turn return damping compensation mode; the starting speed of the damping compensation motor includes any one of the outgoing damping compensation motor starting speed and the return damping compensation motor starting speed. The current calculation module is further configured to, if the damping compensation mode is any one of the left-turn outgoing damping compensation mode or the right-turn outgoing damping compensation mode, query the outgoing damping compensation motor speed start table based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located to obtain the outgoing damping compensation motor starting speed; if the damping compensation mode is any one of the left-turn return compensation mode or the right-turn return compensation mode, query the return damping compensation motor speed start table based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located to obtain the return damping compensation motor starting speed.

[0118] In one embodiment, the starting speed of the damping compensation motor includes any one of the outgoing damping compensation motor starting speed and the return damping compensation motor starting speed; the current calculation module is further configured to, if the absolute value of the speed of the assist motor is greater than the outgoing damping compensation motor starting speed, determine that the speed of the assist motor meets the preset damping compensation control condition; if the absolute value of the speed of the assist motor is greater than the return damping compensation motor starting speed, determine that the speed of the assist motor meets the preset damping compensation control condition.

[0119] In one embodiment, the current calculation module is further configured to query a first-order damping compensation coefficient table based on the real-time vehicle speed to obtain a first-order damping compensation coefficient, and query a second-order damping compensation coefficient table based on the real-time vehicle speed to obtain a second-order damping compensation coefficient; and calculate a damping compensation current according to the damping compensation motor starting speed, the assist motor speed, the first-order damping compensation coefficient, and the second-order damping compensation coefficient.

[0120] In one embodiment, the current calculation module is further configured to determine a lower limit compensation current corresponding to the lower limit of the vehicle speed range where the real-time vehicle speed is located, and determine an upper limit compensation current corresponding to the upper limit of the vehicle speed range where the real-time vehicle speed is located; and calculate a damping compensation current according to the real-time vehicle speed, the lower limit vehicle speed, the lower limit compensation current, and the upper limit compensation current.

[0121] In one embodiment, the compensation module is further configured to look up a maximum damping compensation current value based on the real-time vehicle speed; compare the absolute value of the damping compensation current with the maximum damping compensation current value. If the absolute value of the damping compensation current is less than or equal to the maximum damping compensation current value, directly control the damping torque of the assist motor according to the damping compensation current; if the absolute value of the damping compensation current is greater than the maximum damping compensation current value, control the damping torque of the assist motor according to the maximum damping compensation current value.

[0122] Each module in the above damping compensation control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the controller in hardware form or independent of the processor, or stored in the memory in the controller in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0123] In one embodiment, a controller is provided. The controller can be a controller of an electric power steering system, and its internal structure diagram can be as Figure 6 shown. The controller includes a processor, a memory, an input / output interface, etc. Among them, the memory is connected to the processor, and the processor is connected to the input / output interface. Among them, the processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the processor is used for the processor to exchange information with other controllers. When the computer program is executed by the processor, a damping compensation control method is implemented.

[0124] Those skilled in the art can understand, Figure 6The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the controller to which the solution of this application is applied. The specific controller may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0125] In one embodiment, a controller is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of the above damping compensation control method are implemented.

[0126] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above damping compensation control method are implemented.

[0127] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of the above damping compensation control method are implemented.

[0128] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. And the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0129] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0130] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0131] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A damping compensation control method, characterized in that, The method includes: Obtaining vehicle driving information during vehicle driving, where the vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel; Based on the vehicle driving information, entering a damping compensation mode matching the vehicle driving information; In the matching damping compensation mode, determining the starting rotational speed of the damping compensation motor, where the starting rotational speed of the damping compensation motor includes any one of the starting rotational speed of the damping compensation motor during the outward journey and the starting rotational speed of the damping compensation motor during the return journey; If the absolute value of the rotational speed of the assist motor is greater than the starting rotational speed of the damping compensation motor during the outward journey, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition; If the absolute value of the rotational speed of the assist motor is greater than the starting rotational speed of the damping compensation motor during the return journey, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition; If it is determined based on the starting rotational speed of the damping compensation motor that the rotational speed of the assist motor meets the preset damping compensation control condition, calculate the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed; Control the damping torque of the assist motor according to the damping compensation current; Wherein, if the real-time vehicle speed is the calibrated vehicle speed, the calculating the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed includes: Based on the real-time vehicle speed, querying the first-order damping compensation coefficient table to obtain the first-order damping compensation coefficient, and based on the real-time vehicle speed, querying the second-order damping compensation coefficient table to obtain the second-order damping compensation coefficient; Calculate the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, the first-order damping compensation coefficient, and the second-order damping compensation coefficient; If the real-time vehicle speed is not the calibrated vehicle speed, the calculating the damping compensation current according to the starting rotational speed of the damping compensation motor, the rotational speed of the assist motor, and the real-time vehicle speed includes: Based on the lower limit of the vehicle speed range where the real-time vehicle speed is located, determining the lower limit compensation current corresponding to the lower limit of the vehicle speed, and based on the upper limit of the vehicle speed range where the real-time vehicle speed is located, determining the upper limit compensation current corresponding to the upper limit of the vehicle speed; Calculate the damping compensation current according to the real-time vehicle speed, the lower limit of the vehicle speed, the lower limit compensation current, and the upper limit compensation current.

2. The method according to claim 1, wherein The entering the damping compensation mode matching the vehicle driving information based on the vehicle driving information includes Based on the real-time vehicle speed, querying the torque starting table to obtain the determination value of the steering wheel outward journey torque; If the rotational speed of the assist motor is greater than 0 and the steering hand torque is greater than the determination value of the steering wheel outward journey torque, it is determined that the steering wheel is in the right-turn outward journey, and enter the right-turn outward journey damping compensation mode; If the rotational speed of the assist motor is greater than 0 and the steering hand torque is less than the determination value of the steering wheel outward journey torque, it is determined that the steering wheel is in the left-turn return journey, and enter the left-turn return journey damping compensation mode; If the rotational speed of the assist motor is less than 0 and the steering hand torque is less than the forward stroke torque determination value, it is determined that the steering wheel is in the left turn forward stroke, and the left turn forward stroke damping compensation mode is entered; If the rotational speed of the assist motor is less than 0 and the steering hand torque is greater than the forward stroke torque determination value, it is determined that the steering wheel is in the right turn return stroke, and the right turn return stroke damping compensation mode is entered.

3. The method according to claim 1, characterized in that The damping compensation mode includes any one of the left turn forward stroke damping compensation mode, the right turn forward stroke damping compensation mode, the left turn return stroke damping compensation mode, and the right turn return stroke damping compensation mode; the damping compensation motor starting speed includes any one of the forward stroke damping compensation motor starting speed and the return stroke damping compensation motor starting speed; Determining the damping compensation motor starting speed includes: If the damping compensation mode is any one of the left turn forward stroke damping compensation mode or the right turn forward stroke damping compensation mode, based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the forward stroke damping compensation motor speed starting table to obtain the forward stroke damping compensation motor starting speed; If the damping compensation mode is any one of the left turn return stroke compensation mode or the right turn return stroke compensation mode, based on the real-time vehicle speed or the upper limit vehicle speed of the vehicle speed range where the real-time vehicle speed is located, query the return stroke damping compensation motor speed starting table to obtain the return stroke damping compensation motor starting speed.

4. The method according to claim 1, wherein Controlling the damping torque of the assist motor according to the damping compensation current includes: Based on the real-time vehicle speed, look up the table to obtain the maximum value of the damping compensation current; Compare the absolute value of the damping compensation current with the maximum value of the damping compensation current. If the absolute value of the damping compensation current is less than or equal to the maximum value of the damping compensation current, directly control the damping torque of the assist motor according to the damping compensation current; If the absolute value of the damping compensation current is greater than the maximum value of the damping compensation current, control the damping torque of the assist motor according to the maximum value of the damping compensation current.

5. A damping compensation control device, characterized in that, The device includes: An information acquisition module for acquiring vehicle driving information during vehicle driving. The vehicle driving information includes the rotational speed of the assist motor, the steering hand torque, and the real-time vehicle speed; the steering hand torque is the torque applied by the driver to the steering wheel; A mode determination module for entering a damping compensation mode matching the vehicle driving information based on the vehicle driving information; the damping compensation motor starting speed includes any one of the forward stroke damping compensation motor starting speed and the return stroke damping compensation motor starting speed; if the absolute value of the rotational speed of the assist motor is greater than the forward stroke damping compensation motor starting speed, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition; if the absolute value of the rotational speed of the assist motor is greater than the return stroke damping compensation motor starting speed, it is determined that the rotational speed of the assist motor meets the preset damping compensation control condition; A current calculation module is configured to determine the starting speed of a damping compensation motor in a matched damping compensation mode. If it is determined that the speed of the assist motor meets a preset damping compensation control condition based on the starting speed of the damping compensation motor, a damping compensation current is calculated according to the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed. Wherein, if the real-time vehicle speed is the calibrated vehicle speed, the calculation of the damping compensation current according to the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed includes: querying a first-order damping compensation coefficient table based on the real-time vehicle speed to obtain a first-order damping compensation coefficient, and querying a second-order damping compensation coefficient table based on the real-time vehicle speed to obtain a second-order damping compensation coefficient; calculating the damping compensation current according to the starting speed of the damping compensation motor, the speed of the assist motor, the first-order damping compensation coefficient, and the second-order damping compensation coefficient. If the real-time vehicle speed is not the calibrated vehicle speed, the calculation of the damping compensation current according to the starting speed of the damping compensation motor, the speed of the assist motor, and the real-time vehicle speed includes: determining a lower limit compensation current corresponding to the lower limit of the vehicle speed range where the real-time vehicle speed is located based on the lower limit of the vehicle speed range, and determining an upper limit compensation current corresponding to the upper limit of the vehicle speed range where the real-time vehicle speed is located based on the upper limit of the vehicle speed range; calculating the damping compensation current according to the real-time vehicle speed, the lower limit of the vehicle speed range, the lower limit compensation current, and the upper limit compensation current. A compensation module is configured to control the damping torque of the assist motor according to the damping compensation current.

6. A controller, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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