EPS angle synchronization method and device based on abnormal power-off of game vehicle

Abstract

The invention discloses an EPS angle synchronization method based on abnormal power-off of a game vehicle. The method comprises the following steps: S1, sending an expected rotor speed control quantity; s2, making a difference value between the expected rotor speed control quantity and the actual rotor speed, and outputting motor torque according to the difference value through a PID (Proportion Integration Differentiation) control algorithm; s3, judging whether the angle synchronization function is successful or not, if yes, entering the step S4, and otherwise, ending; and S4, the upper pipe column and the lower pipe column are combined. When electricity in the storage battery is used up accidentally when a game is played on the game car, the middle position of the EPS is lost and the upper pipe column and the lower pipe column of the game car cannot be correctly connected, the EPS finds the middle position information, the upper pipe column and the lower pipe column are successfully connected at the correct positions, the car using experience of a user is improved, and the car using cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile steering devices, and in particular to a method and device for synchronizing EPS angles when a game car is abnormally powered off. Background Art

[0002] With the development of science and technology, more and more functions are being applied to new energy vehicles. At this stage, there is a racing game that uses simulated control through a steering wheel and brake pedal and is applied to new energy vehicles. The steering wheel adopts a column decoupling method, which prohibits the front wheels from moving when the user manipulates the steering wheel when playing a racing game, ensuring that the car tires will not wear out when playing the game.

[0003] At present, some EPS use TIS sensor, namely Torque and Index Sensor. TIS can only provide torque signal and zero-crossing signal pulse of absolute angle. The system can get the steering wheel angle by combining motor angle RPS. However, when playing games, the upper and lower columns are separated by clutch. If the battery in the small battery is used up due to long-term playing games, the whole vehicle will lose 30% of its power. At this time, the steering wheel middle position n° and Counter count recorded by ASIC chip in EPS controller will be lost, so that the relationship between Index signal and median position is lost, which leads to EPS middle position loss. At this time, Index signal and EPS median position are not synchronized, so angle synchronization needs to be performed again. Under normal circumstances, after charging the small battery, the Index signal can be scanned by slowly turning the steering wheel left and right to find the corresponding relationship for angle synchronization, but at this time, the upper and lower columns have been separated, and the steering wheel cannot be turned manually to synchronize them. Therefore, how to make the EPS motor drive the rack to rotate left and right to find the median signal for synchronization, and then connect the upper column and the lower column in the correct position through the actuator is the current technical problem. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a method for synchronizing the EPS angle when the game car is abnormally powered off, comprising: Step S1, sending a desired rotor speed control amount; Step S2, taking the difference between the desired rotor speed control amount and the actual rotor speed, and outputting the motor torque through a PID control algorithm; Step S3, determine whether the angle synchronization function is successful, if successful, proceed to step S4, otherwise end; Step S4, combining the upper pipe string and the lower pipe string.

[0005] Preferably, there is a step S0 before the step S1, which determines the activation enable status of the EPS angle synchronization function. If it is activated, the process proceeds to step S1, otherwise, the process ends.

[0006] Preferably, the method for determining the activation enable status of the EPS angle synchronization function in step S0 is: reading the EPS system status, the vehicle speed signal and the angle calibration status; when the EPS system status is normal, the vehicle speed signal is less than the preset threshold, and the angle calibration status is not initialized, determining that the EPS angle synchronization function is activated and enabled, and entering step S1.

[0007] Preferably, the motor torque output in step S2 is smaller than the resistance force when the EPS reaches the mechanical soft stop point.

[0008] Preferably, in step S3, the method for judging whether the angle synchronization function is successful is: according to the output motor torque, controlling the motor rotor to rotate back and forth a preset number of times, monitoring the angle median signal value, and when the angle median signal value is equal to 2, judging that the angle synchronization function is successful.

[0009] The present invention also provides an EPS angle synchronization device based on abnormal power-off of a game car, comprising an angle synchronization state recognition module, an angle synchronization torque control output module, a safety verification module and an upper and lower pipe column combination execution module; The angle synchronization state identification module is used to determine whether the conditions for activating the EPS angle synchronization function are met, and send the desired rotor speed control amount when the conditions are met; The angle-synchronized torque control output module is used to make a difference between the desired rotor speed control amount and the actual rotor speed, and output the motor torque through a PID control algorithm. The safety verification module is used to determine whether the angle synchronization function is successful; The upper and lower pipe string combination execution module is used to combine the upper pipe string with the lower pipe string after the angle synchronization function is successful.

[0010] Preferably, the conditions for activating the EPS angle synchronization function are: the EPS system itself is in normal condition, the vehicle speed signal is less than a preset threshold, and the angle calibration state is not initialized.

[0011] Preferably, the method for determining whether the angle synchronization function is successful is: according to the output motor torque, control the motor rotor to rotate back and forth a preset number of times, monitor the angle median signal value, and when the angle median signal value is equal to 2, determine that the angle synchronization function is successful.

[0012] The beneficial effects of the present invention are: When the battery is accidentally exhausted while playing games on the gaming car, the middle position of EPS is lost and the upper and lower pipe columns cannot be correctly connected. It must be towed to the 4S shop for repair. Activating this function at this time can enable EPS to find the middle position information again and successfully connect the upper and lower pipe columns in the correct position, improving the user's car experience and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: Figure 1 This is a schematic diagram of a simple steering structure of a game car; Figure 2 This is a flow chart of the EPS angle synchronization method of Example 2; Figure 3 Schematic diagram of the structure of the EPS angle synchronization device of Example 1; Figure 4 This is the activation enabling system state diagram in Example 2; Figure 5 This is a schematic diagram of the corresponding relationship between the Index pulse signal and the RPS motor angle; Figure 6 This is a schematic diagram of the PID control principle in Example 2. DETAILED DESCRIPTION

[0014] The following describes the implementation methods of the present invention through specific specific embodiments, and those skilled in the art can fully understand other advantages and technical effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through different specific implementation methods, and the details in this specification can also be applied based on different viewpoints, and various modifications or changes can be made without deviating from the overall design concept of the invention. It should be noted that the following embodiments and the features in the embodiments can be combined with each other in the absence of conflict. The following exemplary embodiments of the present invention can be implemented in a variety of different forms and should not be interpreted as being limited to the specific embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary specific embodiments to those skilled in the art. Example

[0015] The schematic model of the simple steering structure of the game car currently on the car market is as follows Figure 1 As shown: the upper and lower columns are connected by decoupling. When the game is started, the upper and lower columns are separated by the clutch. In this way, when the steering wheel is turned to simulate the racing steering wheel, the lower column and the entire EPS system will not rotate, and the wheels will not swing back and forth, avoiding friction between the wheels and the ground.

[0016] When the user plays games for too long and runs out of power in the small battery, Figure 5 As shown: Since the steering wheel middle position n and Counter count recorded in the TIS sensor ASIC chip in the EPS will be lost, the corresponding relationship between the Index signal and the median position will be lost, which will lead to the loss of the EPS middle position. The small battery is charged by an external power supply, and then the EPS angle synchronization function is performed using the EPS angle synchronization device provided in this embodiment.

[0017] like Figure 3 As shown, the EPS angle synchronization device provided in this embodiment includes an angle synchronization state identification module, an angle synchronization torque control output module, a safety verification module and an upper and lower pipe column combination execution module.

[0018] The angle synchronization state identification module is used to determine whether the conditions for activation and enabling are currently met, and send the expected rotor speed control quantity when the conditions are met; the angle synchronization torque control output module is used to make a difference between the expected rotor speed control quantity and the actual rotor speed, and output the motor torque through the PID control algorithm; the safety verification module is used to determine whether the angle synchronization function is successful; the upper and lower tubular column combination execution module is used to combine the upper tubular column with the lower tubular column after the angle synchronization function is successful. Example

[0019] The present embodiment provides an EPS angle synchronization method based on abnormal power-off of a gaming car. The main idea of ​​the present method is that there are five Index pulse signals (some are 7) in the TIS sensor. Since the value of n at the middle position of the steering wheel is lost at this time, after power-on, the value of n is recalculated based on the current position (through RPS, and then the analog signal is converted into a digital signal to calculate the current angle), and then through the Lock to Lock (end-to-end) method, the motor drives the rotor to scan the Index pulse signal at the center position with high quality; and then finds the angle n of the motor rotor corresponding to the center Index position at this time. At this time, Lock to Lock cannot be completed manually and needs to be completed automatically, so the device of Example 1 is used to execute the EPS angle synchronization method of this embodiment to realize automatic synchronization of the EPS angle.

[0020] The EPS angle synchronization method of this embodiment is as follows Figure 2 As shown, first execute step S0 to determine the activation status of the EPS angle synchronization function. If activated, proceed to step S1, otherwise end. Or if the EPS is in a fault state, further determine whether the fault is recoverable. If not, end. If recoverable, re-execute step S0 after recovery. When the battery is exhausted and recharged, the power is turned on. At this time, the angle synchronization state recognition module begins to read the EPS system's own state (SystemState), the vehicle speed signal (VehicleSpeed), and the angle calibration state (SteerAngleLinState). Then the system state machine part of the angle synchronization state recognition module will determine whether the conditions for activation are currently met.

[0021] like Figure 4 As shown, the system state machine is divided into four states, namely, "angle synchronization function half-locked" state, "angle synchronization function fully locked" state, "angle synchronization function waiting to be activated" state, and "angle synchronization function activated" state.

[0022] When the vehicle is powered on again, the function configuration word of angle synchronization is turned on. At this time, the system starts to initialize and self-check. If there is a fault in the system, the transition condition of T2.1 is met at this time, and the state will enter the angle synchronization function full lock state. At this time, the function will not be enabled; if there is no fault in the system, the system will enter the angle synchronization semi-lock state. When the system meets the transition condition of T2.1 Figure 4 When the T3 condition is met, the system enters the angle synchronization waiting for activation state, and the T3 condition for state migration is: the EPS internal angle calibration state signal value is not initialized, that is, the mid-position signal is lost; and the vehicle speed value is less than or equal to 1km / h; and the EPS system is normal; and the motor assist is normal.

[0023] The angle synchronization pending activation state can enter the angle synchronization activation state after satisfying condition T4, and the condition T4 is: requesting to activate the angle synchronization function.

[0024] The angle synchronization waiting state can return to the angle synchronization semi-locked state when condition T6.1 is met. The condition of T6.1 is: the request signal message is abnormal, or the vehicle speed signal is invalid, or the vehicle speed is greater than 1km / h.

[0025] The angle synchronization waiting state can return to the angle synchronization function fully locked state when condition T2.3 is met. The condition of T2.3 is: system failure.

[0026] After the EPS angle synchronization function is activated, it goes to step S1 and sends the desired rotor speed control value. That is, the state machine part will send a desired rotor speed control value Req_RotorSpeed ​​to the angle synchronization torque control output module. The angle synchronization torque control output module executes step S2. The principle is as follows: Figure 6 As shown, the difference between the desired rotor speed control amount and the actual rotor speed is made, and the difference is output as the motor torque MMOT through the PID control algorithm to control the motor to drive the rack to move.

[0027] Preferably, the motor torque output after the PID control algorithm needs to be limited by the safety verification module. The limited motor torque must be less than the resistance force when the EPS reaches the mechanical soft stop (to protect the soft stop). The motor torque is output after the verification is passed.

[0028] Next, the verification module executes step S3 to determine whether the angle synchronization function is successful. If successful, the process proceeds to step S4, otherwise, the process ends.

[0029] The method to determine whether the angle synchronization function is successful is as follows: When the motor rotor speed is 0 and lasts for 500ms, gearsign (motor rotor direction) is -1 to perform commutation (Req_RotorSpeed ​​is negated), and counts are performed back and forth for m times. Monitor the angle mid-position signal value SteeringAngleLinState. If the angle mid-position state is still uninitialized after m times, the function should be stopped immediately. The verification module will send a signal of learning failure due to over-limit to the system state machine. At this time, the state meets the T2.4 condition, and the state will migrate from the angle synchronization function activation to the angle synchronization function full lock state.

[0030] When the angle mid-position signal value SteeringAngleLinState is equal to 2, it means that the angle initialization is completed, that is, the angle synchronization function is judged to be successful. The rotor angle used for the middle index position is recorded.

[0031] At this time, step S4 is executed to combine the upper column with the lower column. That is, the corresponding motor on the upper column will turn the steering wheel angle to the middle position, and then combine with the middle position of the middle index position corresponding to the lower column. In order to ensure that the entire system reaches a certain safety level, the output motor force and the real-time vehicle speed also need to be verified by the verification module to ensure the safety of the entire EPS system during synchronization.

[0032] The present invention has been described in detail above through specific implementation modes and embodiments, but these do not constitute limitations of the present invention. Without departing from the principles of the present invention, those skilled in the art may also make many variations and improvements, which should also be regarded as the protection scope of the present invention.

Claims

1. A method for synchronizing the EPS angle when a game car is abnormally powered off, characterized in that: include: Step S1, sending a desired rotor speed control amount; Step S2, taking the difference between the desired rotor speed control amount and the actual rotor speed, and outputting the motor torque through a PID control algorithm; Step S3, determine whether the angle synchronization function is successful, if successful, proceed to step S4, otherwise end; Step S4, combining the upper pipe string and the lower pipe string.

2. The EPS angle synchronization method based on abnormal power-off of the gaming car according to claim 1, characterized in that: The step S0 is also provided before the step S1 to determine the activation status of the EPS angle synchronization function. If activated, the process proceeds to step S1 , otherwise, the process ends.

3. The EPS angle synchronization method based on abnormal power-off of the game car according to claim 2, characterized in that: The method of determining the activation state of the EPS angle synchronization function in step S0 is: reading the EPS system state, the vehicle speed signal and the angle calibration state; When the EPS system itself is in normal condition, the vehicle speed signal is less than the preset threshold, and the angle calibration state is not initialized, it is determined that the EPS angle synchronization function is activated and enabled, and the process goes to step S1.

4. The EPS angle synchronization method based on abnormal power-off of the gaming vehicle according to claim 1, characterized in that: The motor torque output in step S2 is smaller than the resistance force when the EPS reaches the mechanical soft stop point.

5. The EPS angle synchronization method based on abnormal power-off of the gaming vehicle according to claim 1, characterized in that: In step S3, the method for determining whether the angle synchronization function is successful is as follows: according to the output motor torque, the motor rotor is controlled to rotate back and forth a preset number of times, and the angle median signal value is monitored. When the angle median signal value is equal to 2, it is determined that the angle synchronization function is successful.

6. A device for synchronizing the EPS angle when the game car is abnormally powered off, characterized in that: It includes an angle synchronization state recognition module, an angle synchronization torque control output module, a safety verification module and an upper and lower pipe string combination execution module; The angle synchronization state identification module is used to determine whether the conditions for activating the EPS angle synchronization function are met, and send the desired rotor speed control amount when the conditions are met; The angle-synchronized torque control output module is used to make a difference between the desired rotor speed control amount and the actual rotor speed, and output the motor torque through a PID control algorithm. The safety verification module is used to determine whether the angle synchronization function is successful; The upper and lower pipe string combination execution module is used to combine the upper pipe string with the lower pipe string after the angle synchronization function is successful.

7. The EPS angle synchronization device based on abnormal power failure of the game car according to claim 6, characterized in that: The conditions for activating the EPS angle synchronization function are: the EPS system itself is in normal condition, the vehicle speed signal is less than a preset threshold, and the angle calibration state is not initialized.

8. The EPS angle synchronization device based on abnormal power failure of the game car according to claim 6, characterized in that: The method for determining whether the angle synchronization function is successful is: according to the output motor torque, control the motor rotor to rotate back and forth a preset number of times, monitor the angle median signal value, and when the angle median signal value is equal to 2, determine that the angle synchronization function is successful.

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