Method for compensating a measurement signal from a torque sensor device and electromechanical steering system

Abstract

The present invention relates to an electromechanical steering system (1) comprising a steering shaft (2), a steering transmission (3), and a magnetic torque sensor device (40). The steering shaft (2) allows steering commands to be specified by means of a steering control device (7). The steering transmission (3) is designed to convert the steering commands into steering motions of the steerable wheels (4) of a motor vehicle, taking into account at least one input variable. The magnetic torque sensor device (40) measures the torque applied to the steering shaft (2). The torque sensor device (40) has a sensor (12) for detecting an uncompensated measurement signal (T). The torque sensor device (40) includes a calculation unit (35) designed to provide a first parameter and a second parameter for compensating the uncompensated measurement signal (T), and to calculate a compensated measurement signal (T*) based on the uncompensated measurement signal (T) and the two parameters, and to provide the compensated measurement signal (T) as at least one input variable. Furthermore, the present invention also relates to a method for compensating the measurement signal of a torque sensor device used in an electromechanical steering system of a motor vehicle.

Description

Technical Field

[0001] This invention relates to an electromechanical steering system comprising a steering shaft, a steering gear, and a magnetic torque sensor device. The steering shaft allows steering commands to be specified via a steering control mechanism. The steering gear is designed to translate the steering commands into steering motion of the steerable wheels of a motor vehicle, taking into account at least one input variable. The magnetic torque sensor device measures the torque applied to the steering shaft. The rotary sensor device includes a sensor for detecting uncompensated measurement signals. Furthermore, this invention relates to a method for compensating the measurement signals of the torque sensor device used in the electromechanical steering system of a motor vehicle. Background Technology

[0002] Magnetic torque sensor devices for electromechanical steering systems in motor vehicles can be formed using so-called moving magnet technology. In this case, the torque introduced into the input shaft by the driver of the motor vehicle via steering mechanisms, particularly the steering wheel, is measured by detecting the magnetic field generated by a magnetic ring connected to the input shaft in a non-rotatable manner; this torque is also known as steering torque. The torque is determined based on the detected rotation angle, also known as the steering rotation angle or differential angle. Because this is non-contact or contactless torque detection—that is, the components moving relative to each other do not mechanically contact each other—the torque sensor device is wear-free and therefore virtually maintenance-free, and thus cost-effective in terms of operating costs. Therefore, it is particularly suitable for use in automotive technology.

[0003] Such magnetic torque sensor devices are known from the prior art, for example from EP 2 664 906 A2 and WO2017 / 115922 A1.

[0004] However, the problem lies in the signal artifacts present by torque sensor devices. These artifacts degrade the quality of the measurement results and thus limit the applicability of torque sensor devices. These artifacts specifically include nonlinearity and asymmetry. Electromechanical steering systems that receive the input variables for steering the wheels from such torque sensor devices exhibit a degree of inaccuracy in this respect. Summary of the Invention

[0005] In view of the above problems, the object of the present invention is to provide an improved electromechanical steering system, which in particular enables more precise execution of steering commands at the wheels to be steered in a motor vehicle. Furthermore, a method will be provided to improve the quality of measurement results from a universal torque sensor device, and thus make the universal torque sensor device more versatile.

[0006] The basic objective of this invention is achieved through the electromechanical steering system of this invention and the method for compensating the measurement signals of the torque sensor device used in the electromechanical steering system of a motor vehicle. Advantageous developments arise from the exemplary embodiments shown in the specification and drawings.

[0007] The proposed electromechanical steering system includes a steering shaft, a steering gear, and a magnetic torque sensor device. Steering commands can be specified via the steering shaft using a steering control mechanism. The steering gear is designed to translate the steering commands into steering motion of the steerable wheels of the motor vehicle, taking into account at least one input variable. The magnetic torque sensor device measures the torque applied to the steering shaft. The torque sensor device includes a sensor for detecting uncompensated measurement signals. The torque sensor device is equipped with a computing unit designed to provide first and second parameters for compensating the uncompensated measurement signals, calculate a compensated measurement signal based on the uncompensated measurement signals and the first and second parameters, and provide the compensated measurement signal as at least one input variable. Specifically, signal artifacts are compensated for. Advantageously, steering commands can be implemented more precisely using the proposed steering system. For the driver of the motor vehicle, the driving experience is thus improved. Driving safety, particularly regarding autonomous driving safety, can also be advantageously enhanced.

[0008] Specifically, the torque sensor device is configured to include a computing unit. However, it is also specifically configured that the computing unit may be part of the central control unit of the motor vehicle, wherein the computing unit may advantageously be connected to the torque sensor device via an interface, and the computing unit is distributed to the torque sensor device in this manner. Furthermore, it is specifically configured that the computing unit is designed to provide compensated measurement signals as input variables to the steering controller, particularly the steering gear.

[0009] According to a particularly advantageous embodiment of the invention, the steering shaft is configured to include an input shaft and an output shaft, the input shaft being non-rotatably connected to the steering mechanism, and the output shaft being connected to the input shaft via a torsion bar. Advantageously, the torque sensor device further includes a multipole magnetic ring for generating a magnetic field, non-rotatably connected to the input shaft, a stator annular element non-rotatably connected to the output shaft and enclosing the magnetic ring, and a flux collector. The sensor of the torque sensor device is advantageously designed to detect an uncompensated measurement signal based on a magnetic field applied to the flux collector. Advantageously, the sensor is a magnetic sensor, particularly a Hall sensor. Specifically, the sensor is configured to be stationary relative to the steering shaft, and its position does not change when the steering shaft rotates.

[0010] Advantageously, this implementation is particularly robust to interference effects, such as contamination, thereby further improving the quality of the measurement signal and thus the steering behavior of the steering system.

[0011] Further advantageously, the computing unit is designed to provide a first parameter as a linearization parameter for compensating for nonlinear behavior. Compensation for nonlinear behavior advantageously further improves the quality of the measurement signal, and thus ultimately improves the steering behavior of the steering system. Preferably, the linearization parameter is a design-specific parameter. Advantageously, the linearization parameter specifically takes into account or models the geometry of the magnetic ring and / or the number of magnetic poles of the magnetic ring. Furthermore, it is specifically configured that the linearization parameter is a third-order polynomial parameter, wherein the linearization parameter is advantageously used for S-curve compensation.

[0012] Further advantageously, the computing unit is designed to provide a second parameter as a symmetry parameter for compensating for the asymmetric behavior of the uncompensated measurement signal. Advantageously, measurement inaccuracies arising particularly from tolerances or asymmetries in the manufacture of the individual components of the torque sensor device and / or from tolerances or asymmetries in the assembly of the individual components, particularly from tolerances or asymmetries in the assembly or arrangement of the magnetic ring relative to the stator ring element of the torque sensor device, are thereby offset. The symmetry parameter is preferably a component-specific parameter. In particular, it is configured that the symmetry parameter is a second-order polynomial parameter.

[0013] In another particularly advantageous embodiment of the invention, the calculation unit is designed to calculate the compensated measurement signal according to the following formula:

[0014] ;

[0015] in:

[0016] T* = compensated measurement signal; T = uncompensated measurement signal;

[0017] p symm = Second parameter; p lin = First parameter.

[0018] This means that the compensated measurement signal advantageously includes the uncompensated measurement signal and the product of the square of the uncompensated measurement signal and the second parameter, as well as the sum of the product of the cube of the uncompensated measurement signal and the first parameter.

[0019] The calculations based on the aforementioned formula advantageously achieve compensation for asymmetric behavior through second-order compensation or approximate calculations. This is an efficient and automated method for compensating or balancing asymmetric behavior in uncompensated measurement signals.

[0020] A method for compensating the measurement signal of a torque sensor device used in an electromechanical steering system of a motor vehicle, further proposed to achieve the aforementioned objective, provides the following steps: generating an uncompensated measurement signal (T) via a sensor; providing at least a first parameter and a second parameter for compensating the uncompensated measurement signal (T); and calculating a compensated measurement signal (T*) based on the uncompensated measurement signal (T) and the first and second parameters. Specifically, the input shaft, non-rotatably connected to the steering control device, is connected to the output shaft via a torsion bar, and the torque sensor device advantageously includes a multipole magnetic ring non-rotatably connected to the input shaft for generating a magnetic field, a stator ring element non-rotatably connected to the output shaft and enclosing the magnetic ring, a flux collector, and a sensor for generating the measurement signal. Specifically, the sensor is also connected to a non-rotatable steering system.

[0021] The method according to the invention allows for the compensation of signal artifacts in the measurement signal of the torque sensor device. This enables more robust torque detection that is less prone to failure. This expands the application possibilities of the torque sensor device.

[0022] The uncompensated measurement signal (T) can also be referred to as the original signal, and the compensated measurement signal (T*) can also be referred to as the processed signal. The uncompensated measurement signal and the compensated measurement signal can each be the corresponding torque signal.

[0023] Advantageously, providing the first parameter includes the following steps: providing a linearization parameter (p_lin) for compensating for the nonlinear behavior of the uncompensated measurement signal (T). The nonlinear behavior, or nonlinearity, of the uncompensated measurement signal is specifically caused by the overall structure of the magnetic circuit. Therefore, these are design-related signal artifacts. Due to the structure of the magnetic circuit and the measurement principle, the nonlinear behavior of the uncompensated measurement signal cannot be avoided. Compensation for the nonlinear behavior advantageously improves the quality of the measurement results of the torque sensor device.

[0024] In another advantageous manner, the linearization parameter (p_lin) is a design-specific parameter. The linearization parameter (p_lin) specifically takes into account or models the geometry of the magnetic ring and / or the number of magnetic poles of the magnetic ring. In particular, it is set that the linearization parameter (p_lin) is a third-order polynomial parameter. The linearization parameter (p_lin) is advantageously used for S-curve compensation.

[0025] Preferably, providing the second parameter includes the following step: providing a symmetry parameter (p_symm) for compensating for the asymmetric behavior of the uncompensated measurement signal (T). The asymmetric behavior or asymmetry of the uncompensated measurement signal is causally based, particularly, on tolerances or asymmetries in the manufacturing of the individual components of the torque sensor device and / or in the assembly of the individual components, especially the tolerances or asymmetries in the assembly or arrangement of the magnetic ring relative to the stator ring element. Both manufacturing tolerances and assembly tolerances cannot be completely avoided in practice. Therefore, the uncompensated measurement signal always exhibits a certain degree of asymmetric behavior, which degrades the quality of the measurement results. Compensation for nonlinear behavior cannot prevent or compensate for the asymmetric behavior of the uncompensated measurement signal. Compensation for asymmetric behavior improves the quality of the measurement results of the torque sensor device according to the invention.

[0026] More preferably, the symmetry parameter (p_symm) is a component-specific parameter. The symmetry parameter (p_symm) advantageously takes into account or models the specific characteristics of each component or element. Specifically, the symmetry parameter (p_symm) is a second-order polynomial parameter.

[0027] Advantageously, the compensated measurement signal (T*) is calculated using the following formula:

[0028] ;

[0029] in:

[0030] T* = compensated measurement signal; T = uncompensated measurement signal;

[0031] p symm = Second parameter; p lin = First parameter.

[0032] Specifically, the second parameter is set to be the symmetry parameter. Furthermore, the first parameter is specifically set to be the linearization parameter.

[0033] This calculation formula advantageously enables compensation for asymmetric behavior through second-order compensation or approximation. This is an efficient and automated method for compensating or balancing asymmetric behavior in an uncompensated measurement signal (T).

[0034] Furthermore, advantageously, the sensor used to generate the measurement signal is a magnetic sensor, and in particular a Hall sensor.

[0035] Furthermore, a torque sensor device for operating the method according to the invention is proposed. Specifically, the torque sensor device comprises an input shaft non-rotatably connected to a steering mechanism, an output shaft connected to the input shaft via a torsion bar, a multipole magnetic ring non-rotatably connected to the input shaft for generating a magnetic field, a stator ring element non-rotatably connected to the output shaft and enclosing the magnetic ring, a magnetic flux collector, and a sensor for generating a measurement signal. Advantageously, the sensor for generating the measurement signal is a magnetic sensor, particularly a Hall sensor. Specifically, the sensor can also be connected to or connected to a non-rotational steering system. Specifically, the torque sensor device includes a computing unit. Advantageously, a first parameter and a second parameter are provided by the computing unit. Further advantageously, the computing unit is designed to be used based on the uncompensated measurement signal (T) and the first parameter (p). lin ) and the second parameter (p) symm Preferably, the compensated measurement signal (T*) is calculated according to the following formula:

[0036] ;

[0037] in:

[0038] T* = compensated measurement signal; T = uncompensated measurement signal;

[0039] p symm = Second parameter; p lin = First parameter. Attached Figure Description

[0040] Advantageous embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. In the drawings:

[0041] Figure 1 An exemplary embodiment of the electromechanical steering system for motor vehicle design according to the present invention is illustrated in a three-dimensional schematic diagram.

[0042] Figure 2 An exemplary embodiment of components for a torque sensor device used in an electromechanical steering system is shown in perspective.

[0043] Figure 3 A portion of another exemplary embodiment of the electromechanical steering system for motor vehicle design according to the present invention is illustrated in schematic diagram.

[0044] Figure 4 A two-dimensional coordinate system is shown, where, by way of example, the value of the detected torque is shown relative to the reference torque.

[0045] Figure 5A two-dimensional coordinate system is shown, where the values ​​of magnetic flux density are illustrated relative to different angles, by way of example.

[0046] Figure 6 A two-dimensional coordinate system is shown, where, by way of example, the measurement error of the detected torque is shown relative to a reference torque value.

[0047] Figure 7 A two-dimensional coordinate system is shown, where, taking into account assembly tolerances that lead to asymmetry, the values ​​of magnetic flux density are illustrated relative to different angles by way of example.

[0048] Figure 8 A two-dimensional coordinate system is shown, in which, taking into account the assembly tolerances that lead to asymmetry, the value of the measurement error of the detected torque is shown relative to the value of the reference torque by way of example. Detailed Implementation

[0049] In different accompanying figures, the same parts have the same figure labels, and are therefore usually named or mentioned only once.

[0050] Figure 1 The electromechanical steering system 1 is shown in a simplified three-dimensional view from the oblique front of the vehicle's direction of travel, wherein non-essential components are not shown in order to provide a better overview of the invention.

[0051] A steering system 1 for a motor vehicle includes a steering column having a steering shaft 2. The steering shaft 2 is mechanically connected to the steerable wheels 4 of the motor vehicle via a steering gear 3. In this exemplary embodiment, the steering gear 3 includes a pinion 5 and a toothed connecting rod 6, wherein the steering gear 3 is used to convert the rotational motion of the pinion 5 into the translational motion of the connecting rod 6 along its longitudinal axis. At the end of the steering shaft 2 closer to the driver, a steering control device 7, particularly a steering wheel, is arranged in a non-rotatable manner for inputting the driver's steering request or steering command, wherein the driver can rotate the steering control device 7, which is in the form of a steering wheel, in a known manner to input his steering command. In this exemplary embodiment, the connecting rod 6, which moves linearly along its longitudinal axis, is mechanically connected to tie rods 8 located on both sides of the motor vehicle. The tie rods 8 are in turn mechanically connected to the wheels 4. Therefore, the steering gear 3 is designed to convert steering commands into steering motion of the steerable wheels 4 of the motor vehicle, taking into account at least one input variable. The steering system 1 also includes only... Figure 1 The torque sensor device 40 is schematically shown in the figure. The torque sensor device 40 includes a sensor 12 for detecting an uncompensated measurement signal T. Figure 1The connecting line 30 symbolically represents the corresponding arrangement of sensor 12 on steering shaft 2, wherein sensor 12 can detect torque applied to steering shaft 2. The detected uncompensated measurement signal T is transmitted to a computing unit 35 assigned to torque sensor device 40 via a signal line 31, which may be wired or wireless. In this exemplary embodiment, computing unit 35 is part of torque sensor device 40. Specifically, computing unit 30 may be a microcontroller circuit, particularly an application-specific integrated circuit (ASIC). The computing unit is designed to provide a first parameter and a second parameter for compensating the uncompensated measurement signal T, and to calculate a compensated measurement signal T* based on the uncompensated measurement signal T and the first and second parameters. This compensated measurement signal T* is specifically the sum of the product of the uncompensated measurement signal T and the square of the uncompensated measurement signal T with the second parameter, and the cube of the uncompensated measurement signal T with the first parameter. Furthermore, the computing unit 35 is designed to provide a calculated, compensated measurement signal T* as an input variable via a signal line 32, which may be wired or wireless, particularly as a radio connection, specifically to the steering gear 3 or the control unit assigned to the steering gear 3. Figure 1 (Not shown in the image).

[0052] Figure 2 The perspective view shows the components of a torque sensor device for an electromechanical steering system in a motor vehicle, particularly for... Figure 1 The torque sensor device 40 is a component.

[0053] The component includes a magnetic field to be non-rotatably connected to. Figure 2 A multi-pole magnetic ring 9, not shown, is used for the input shaft. The magnetic ring 9 includes multiple individual magnetic poles, wherein each individual pole, arranged directly adjacent to or near each other, has a different polarity. The input shaft can be arranged in the central opening of the magnetic ring 9 such that the input shaft and the magnetic ring 9 are arranged coaxially with each other. Furthermore, components include those non-rotatably connected to the same... Figure 2 The stator ring element 10, which has an output shaft and radially encloses the magnetic ring 9 (not shown), the magnetic flux collector 11, and the sensor 12 for generating measurement signals are shown.

[0054] The stator ring element 10 is formed in two parts and includes a first stator sub-ring element 13 and a second stator sub-ring element 14. The flux collector 11 is also formed in two parts and includes a first flux quantum collector 15 and a second flux quantum collector 16. The sensor 12 is a Hall sensor, preferably in a dual-chip package.

[0055] exist Figure 3 The diagram schematically illustrates a portion of an electromechanical steering system 1, wherein, in particular, the electromechanical steering system 1 may be as shown in reference to... Figure 1 The steering system is explained. The steering system 1 includes a steering shaft 2, which includes an input shaft 201 non-rotatably connected to a steering control device 7 and an output shaft 202 connected to the input shaft 201 via a torsion bar 203. Furthermore, the steering system includes a magnetic torque sensor device 40 for measuring the torque applied to the steering shaft 2. In this exemplary embodiment, the torque sensor device 40 includes a non-rotatably connected to the input shaft 201, specifically as shown in the example... Figure 2 The multipole magnetic ring 9 shown is used to generate a magnetic field. Furthermore, the torque sensor device 40 includes a stator ring element 10, a flux selector 11, and a sensor 12 for generating a measurement signal T. The stator ring element 10 is non-rotatably connected to the output shaft 202, enclosing the magnetic ring 9, and has a first stator sub-ring element 13 and a second stator sub-ring element 14. The corresponding components, particularly the magnetic ring 9, the stator ring element 10, the flux collector 11, and / or the sensor 12, advantageously have the following characteristics: Figure 2 As shown in the exemplary embodiment, sensor 12 is designed to detect an uncompensated measurement signal T based on the magnetic field applied to the magnetic flux collector 11, particularly based on changes in the magnitude and / or direction of the magnetic field strength. The uncompensated measurement signal T is transmitted via signal line 31 to a computing unit 35 assigned to the torque sensor device 40, particularly the central ECU (Electronic Control Unit) of the motor vehicle. However, the computing unit 35 may also be a computing unit included in the torque sensor device 40, such as an ASIC. The computing unit 35 is designed to provide a first parameter and a second parameter for compensating the uncompensated measurement signal T, particularly from... Figure 3 A memory unit for a computing unit (not explicitly shown) is provided, and a compensated measurement signal T* is determined based on the uncompensated measurement signal T and the first and second parameters. The compensated measurement signal T* is advantageously provided as an input variable to the steering actuator of the steering system 1, and particularly to the steering gear 3. Therefore, improved control of the steering controller can be advantageously achieved. Specifically, the steering actuator has a... Figure 3 Control units, particularly proportional controllers, not explicitly shown in the text.

[0056] Figure 4 A two-dimensional coordinate system is shown, in which the measured torque value is displayed on the vertical axis, relative to the reference torque value plotted on the horizontal axis in Nm (Nm: Newton-meter).

[0057] The idealized curve 17, represented by a solid line, corresponds to the desired curve, meaning the detected torque precisely corresponds to the reference torque. Conversely, the actual curve 18, shown as a dashed line, corresponds to the true S-shaped curve, meaning the detected torque deviates from the reference torque. Negative reference torque region ( Figure 4 The deviation and positive reference torque area in the left side of the image (in the image) Figure 4 The deviations (on the right side of the reference torque) have opposite signs. In other words, in the negative reference torque region, the detected torque deviates "upward" from the reference torque, while in the positive reference torque region, the detected torque deviates "downward" from the reference torque.

[0058] Figure 5 and Figure 6 The compensation for the measurement signal generated by the sensor of the torque sensor device is shown, namely, compensation by linearization.

[0059] Figure 5 A two-dimensional coordinate system is shown, in which the values ​​of magnetic flux density in mT (mT: millitalas) are represented on the vertical axis relative to the values ​​of different angles plotted on the horizontal axis in ° (°: degrees).

[0060] Curve 19 is sinusoidal, i.e., quite nonlinear. The nonlinearity of curve 19 is less pronounced in the angular range of approximately -5 Ω to approximately +5 Ω, as shown in curve segment 20. Curve segment 20 is approximately linear, having an S-shaped profile. The center of the coordinate system is located at the center of curve segment 20. Therefore, curve segment 20 is symmetric about the coordinate center.

[0061] Figure 6 A two-dimensional coordinate system is shown, in which the measurement error of the detected torque, in Nm, is shown on the vertical axis relative to a reference torque value plotted on the horizontal axis.

[0062] The uncompensated curve 21, shown as a dashed line, corresponds to the profile of the measurement signal T before nonlinearity compensation according to the present invention. Conversely, the compensated curve 22, shown as a solid line, corresponds to the profile of the measurement signal T* after nonlinearity compensation according to the present invention. The arrows indicate the linearization of the uncompensated curve 21 toward the compensated curve 22.

[0063] Figure 7 and Figure 8 The compensation for the measurement signal generated by the torque sensor device is shown, i.e., compensation through linearization and symmetry. Nonlinear and asymmetric signal artifacts overlap here.

[0064] Figure 7A two-dimensional coordinate system is shown, in which the values ​​of magnetic flux density in mT are shown on the vertical axis relative to the values ​​of different angles plotted on the horizontal axis in ° (degrees).

[0065] Curve 23 is sinusoidal, i.e., quite nonlinear. However, in the angular range of approximately -5° to approximately +5°, as shown in curve segment 24, the nonlinearity of curve 23 is less pronounced. Curve segment 24 is approximately linear, wherein curve segment 24 has an S-shaped profile. (The last sentence appears to be incomplete and possibly refers to a different source.) Figure 5 Compared to curve 19, the center of the coordinate system is not in the middle of curve segment 24, but off-center. Therefore, curve segment 24 is symmetrical about the coordinate center. The arrow indicates the asymmetry of curve segment 24.

[0066] Figure 8 A two-dimensional coordinate system is shown, in which the measurement error of the detected torque, in Nm, is shown on the vertical axis relative to a reference torque value plotted on the horizontal axis.

[0067] The uncompensated curve 25, shown as a dashed line, corresponds to the profile of the measurement signal T before compensation for nonlinearity and asymmetry according to the present invention. Conversely, the compensated curve 26, shown as a solid line, corresponds to the profile of the measurement signal T* after compensation for nonlinearity and asymmetry according to the present invention. Arrows indicate the linearization of the uncompensated curve 25 toward the compensated curve 26. Figure 6 Compared to curve 21, the center of the coordinate system along the horizontal axis of curve 25 is not in the middle of the platform of curve 25, but off-center. Therefore, curve 25 is asymmetrical with respect to the coordinate center.

Claims

1. An electromechanical steering system (1), the electromechanical steering system (1) comprising a steering shaft (2), a steering gear (3), and a magnetic torque sensor device (40), wherein a steering command can be specified by means of a steering control device (7) via the steering shaft (2), the steering gear (3) being designed to convert the steering command into steering motion of a steerable wheel (4) of a motor vehicle taking into account at least one input variable, and the magnetic torque sensor device (40) being used to measure the torque applied to the steering shaft (2), wherein, The torque sensor device (40) includes a sensor (12) for detecting an uncompensated measurement signal (T), characterized in that the torque sensor device (40) is equipped with a computing unit (35) designed to provide a first parameter (p) for compensating the uncompensated measurement signal (T). lin ) and the second parameter (p) symm ), and based on the uncompensated measurement signal (T) and the first parameter (p) lin ) and the second parameter (p) symm The calculation unit (35) calculates the compensated measurement signal (T*) and provides the compensated measurement signal (T*) as the at least one input variable; the calculation unit (35) is designed to provide the first parameter (p) lin ) is used as a linearization parameter to compensate for nonlinear behavior.

2. The electromechanical steering system (1) according to claim 1, characterized in that, The steering shaft (2) includes an input shaft (201) and an output shaft (202). The input shaft (201) can be non-rotatably connected to the steering control device (7). The output shaft (202) is connected to the input shaft (201) via a torsion bar (203). The torque sensor device (40) also includes a multipole magnetic ring (9) for generating a magnetic field, which is non-rotatably connected to the input shaft (201), a stator ring element (10) which is non-rotatably connected to the output shaft (202) and encloses the magnetic ring (9), and a magnetic flux collector (11). The sensor (12) is designed to detect the uncompensated measurement signal (T) based on the magnetic field applied to the magnetic flux collector (11).

3. The electromechanical steering system (1) according to claim 1, characterized in that, The linearization parameters are design-specific parameters.

4. The electromechanical steering system (1) according to claim 1, characterized in that, The linearization parameter is a third-order polynomial parameter.

5. The electromechanical steering system (1) according to any one of claims 1-4, characterized in that, The computing unit (35) is designed to provide the second parameter (p) symm ) is used as a symmetry parameter to compensate for the asymmetric behavior of the uncompensated measurement signal (T).

6. The electromechanical steering system (1) according to claim 5, characterized in that, The symmetry parameter is a component-specific parameter.

7. The electromechanical steering system (1) according to claim 5, characterized in that, The symmetry parameter is a second-order polynomial parameter.

8. The electromechanical steering system (1) according to any one of claims 1-4, characterized in that, The computing unit (35) is designed to calculate the compensated measurement signal (T*) according to the following formula: ； in: T* = compensated measurement signal; T = uncompensated measurement signal; p symm = Second parameter; p lin = First parameter.

9. A method for compensating the measurement signal of a torque sensor device (40) used in an electromechanical steering system (1) of a motor vehicle, wherein, An input shaft (201) non-rotatably connected to a steering control device (7) is connected to an output shaft (202) via a torsion bar (203), wherein the torque sensor device (40) includes a multipole magnetic ring (9) non-rotatably connected to the input shaft (201) for generating a magnetic field, a stator ring element (10) non-rotatably connected to the output shaft (202) and enclosing the magnetic ring (9), a magnetic flux collector (11), and a sensor (12) for generating a measurement signal, the method comprising the following steps: An uncompensated measurement signal (T) is generated by the sensor (12); Provide a first parameter (p) for compensating the uncompensated measurement signal (T). lin ) and the second parameter (p) symm ); Based on the uncompensated measurement signal (T) and the first parameter (p) lin ) and the second parameter (p) symm ) Calculate the compensated measurement signal (T*); Provide the first parameter (p) lin This includes the following steps: Linearization parameters are provided for compensating the nonlinear behavior of the uncompensated measurement signal (T).

10. The method according to claim 9, characterized in that, The linearization parameters are design-specific parameters.

11. The method according to claim 10, characterized in that, The linearization parameter is a third-order polynomial parameter.

12. The method according to any one of claims 9 to 11, characterized in that, Provide the second parameter (p) symm This includes the following steps: Symmetry parameters are provided for compensating the asymmetric behavior of the uncompensated measurement signal (T).

13. The method according to claim 12, characterized in that, The symmetry parameter is a component-specific parameter.

14. The method according to claim 12, characterized in that, The symmetry parameter is a second-order polynomial parameter.

15. The method according to any one of claims 9-11, characterized in that, The compensated measurement signal (T*) is calculated according to the following formula: ； in: T* = compensated measurement signal; T = uncompensated measurement signal; p symm = Second parameter; p lin = First parameter.

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