Moment fluctuation compensation value determination and optimization method and device, equipment and storage medium

Abstract

The invention relates to a moment fluctuation compensation value determination and optimization method and device, equipment and a storage medium. The moment fluctuation compensation value determination and optimization method comprises the steps that a first adjustment range of a guide angle at the tooth top of a worm in a steering system of a vehicle is determined; determining a second adjustment range of the compensation parameter of the steering system; performing combined arrangement on the plurality of angle values in the first adjustment range and the plurality of parameter values in the second adjustment range to obtain an adjustment set; testing a plurality of combinations of the angle values and the parameter values in the adjustment set to obtain an optimal combination of the angle values and the parameter values; the angle value and the parameter value in the optimal combination are compensation values for optimizing the torque fluctuation of the steering system. By optimizing tooth crest guiding of the worm, interference and torque fluctuation of the worm gear during worm meshing are reduced, and meshing is smoother; waveform compensation is carried out on torque fluctuation, so that a fluctuation value can be weakened. In this way, the optimal compensation effect is achieved, and the deviation between the obtained optimal torque fluctuation and a real vehicle test result is small.

Description

Technical Field

[0001] The present invention relates to the field of automotive electronics technology, and in particular to a method and device for determining and optimizing a torque fluctuation compensation value, equipment, and storage medium. Background Art

[0002] The vehicle's steering system is a set of devices that can change the direction of the vehicle according to the driver's will, which is crucial to the vehicle's driving safety. When the vehicle turns, the steering force is transmitted to the wheels in contact with the road through the steering wheel, steering column, steering gear, and steering knuckle, so that it overcomes the ground resistance and rotates, thereby achieving vehicle steering. There is torque fluctuation during the vehicle's steering process. If the torque fluctuation is too large, it will affect the driver and bring potential dangers to driving. Therefore, when developing the steering system, the torque fluctuation must be controlled within a certain range.

[0003] In the related art, a dynamic model of the steering system is constructed, and torque fluctuation analysis is performed based on the dynamic model to obtain the optimal torque fluctuation. However, there is a large deviation between the optimal torque fluctuation obtained by theoretical calculation and the actual vehicle test result. Summary of the invention

[0004] The present application provides a method and device for determining and optimizing a torque fluctuation compensation value, so as to solve the problem that there is a large deviation between the optimal torque fluctuation obtained by theoretical calculation and the actual vehicle test result in the related art.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] An embodiment of the present application provides a method for determining a torque fluctuation compensation value, which includes: determining a first adjustment range of a guide angle at a worm tooth top in a steering system of a vehicle; determining a second adjustment range of a compensation parameter of the steering system; combining and arranging multiple angle values ​​in the first adjustment range with multiple parameter values ​​in the second adjustment range to obtain an adjustment set; testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain an optimal combination of angle values ​​and parameter values; the angle values ​​and parameter values ​​in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

[0007] It can be understood that by optimizing the guide angle at the top of the worm gear, the interference of the worm wheel during the worm meshing can be reduced, making the meshing smoother, thereby reducing the torque fluctuation of the steering system; by performing waveform compensation on the torque fluctuation of the steering system, the torque fluctuation can be weakened. In this way, the present application not only weakens the torque fluctuation by optimizing the top guide of the worm gear, but also weakens the torque fluctuation by performing waveform compensation on the torque fluctuation of the steering system. It comprehensively considers the optimization at the hardware level and the software level, and can achieve the optimal compensation effect. The obtained optimal torque fluctuation has a small deviation from the actual vehicle test result.

[0008] In some embodiments, the above-mentioned determination of the first adjustment range of the guide angle at the top of the worm gear in the steering system of the vehicle includes: determining the model of the vehicle, multiple devices in the steering system, the matching relationship between the multiple devices during steering, and the optimization goal of the steering system; the optimization goal includes: minimizing the torque fluctuation of the steering system while meeting the overlap requirements of the worm gear and the strength requirements of the worm in the steering system; using an experimental design method to analyze the model of the vehicle, the devices in the steering system, the matching relationship between the devices during steering, and the optimization goal of the steering system to obtain the first adjustment range.

[0009] It can be understood that by using the experimental design method to analyze the vehicle model, the various devices in the steering system, and the coordination relationship of the various devices during steering, the optimized value of the guide angle can be obtained while meeting the worm gear overlap requirements, worm strength requirements, and minimizing torque fluctuations.

[0010] In some embodiments, the above-mentioned determination of the second adjustment range of the compensation parameters of the steering system includes: detecting the torque fluctuation of the steering system at multiple different speeds through a torque damping module; determining a compensation waveform that matches the torque fluctuation; the compensation waveform is a waveform that matches the frequency of the torque fluctuation and has a phase difference with the torque fluctuation that satisfies a first threshold; and determining the second adjustment range based on the parameter value of the compensation waveform.

[0011] It can be understood that the torque damping module can monitor torque fluctuations in real time. By superimposing a sinusoidal compensation wave with the same (or similar) frequency on the detected torque fluctuations, its phase is shifted by the first threshold, thereby performing torque compensation in the reverse direction to achieve the purpose of weakening the torque fluctuations of the steering system.

[0012] In some embodiments, the above-mentioned testing of multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain the optimal combination of angle values ​​and parameter values ​​includes: testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain a test result for each of the multiple combinations; determining from the multiple combinations a combination whose test result is a combination that satisfies a second threshold value for torque fluctuation, to obtain multiple combinations to be determined; and determining the optimal combination from the multiple combinations to be determined based on the performance corresponding to the multiple combinations to be determined.

[0013] It can be understood that by testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set, the optimal combination of angle values ​​and parameter values ​​can be obtained.

[0014] An embodiment of the present application provides a torque fluctuation optimization method, which includes: adding a guide angle of a target angle value at the top of a worm gear in a steering system of a vehicle; determining a target parameter value of a compensation parameter of the steering system based on the rotational speed of the vehicle and the torque fluctuation of the steering system; the target angle value and the target parameter value are an optimal combination determined by the above-mentioned torque fluctuation compensation value determination method; and optimizing the torque fluctuation of the steering system based on the target parameter value.

[0015] It can be understood that by adding a guide angle at the top of the worm gear, the interference of the worm wheel during the worm meshing can be reduced, making the meshing smoother, thereby reducing the torque fluctuation of the steering system; by performing waveform compensation on the torque fluctuation of the steering system, the torque fluctuation can be weakened. In this way, the present application not only weakens the torque fluctuation by optimizing the top guide of the worm gear, but also weakens the torque fluctuation by performing waveform compensation on the torque fluctuation of the steering system. It comprehensively considers the optimization at the hardware level and the software level, and can achieve the optimal compensation effect. The obtained optimal torque fluctuation has a small deviation from the actual vehicle test result.

[0016] In some embodiments, the above-mentioned determination of the target parameter value of the compensation parameter of the steering system based on the vehicle rotational speed and the torque fluctuation of the steering system includes: determining the correspondence between multiple different rotational speeds and the parameter value of the compensation parameter; from the correspondence, determining the parameter value that matches the vehicle rotational speed; the waveform corresponding to the matched parameter value matches the frequency of the torque fluctuation and the phase difference with the torque fluctuation satisfies a first threshold; and using the matched parameter value as the target parameter value.

[0017] It can be understood that based on the correspondence between multiple different rotational speeds and parameter values ​​of compensation parameters, the parameter value that matches the vehicle rotational speed can be determined, and waveform compensation is performed on the torque fluctuation based on the matching parameter value, thereby minimizing the torque fluctuation of the steering system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of an implementation process of a method for determining a torque fluctuation compensation value provided in an embodiment of the present application Figure 1 ;

[0019] Figure 2 A schematic diagram of the structure of a worm gear in a steering system provided in an embodiment of the present application;

[0020] Figure 3 A schematic diagram of an implementation process of a method for determining a torque fluctuation compensation value provided in an embodiment of the present application Figure 2 ;

[0021] Figure 4 A schematic diagram of the implementation process of a torque fluctuation optimization method provided in the embodiment of the present application Figure 1 ;

[0022] Figure 5 A schematic diagram of the implementation process of a torque fluctuation optimization method provided in the embodiment of the present application Figure 2 ;

[0023] Figure 6 A schematic diagram of realizing the guide angle at the worm tooth top in a torque fluctuation optimization method provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of implementing waveform compensation for torque fluctuation in a torque fluctuation optimization method provided in an embodiment of the present application;

[0025] Figure 8 A schematic diagram of the structure of a torque fluctuation compensation value determination device provided in an embodiment of the present application;

[0026] Fig. 9 A schematic diagram of the structure of a torque fluctuation optimization device provided in an embodiment of the present application;

[0027] Fig.10 A schematic diagram of the composition structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solution of the present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] In order to enable those skilled in the art to better understand the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all of the embodiments.

[0030] The terms "first", "second", and "third" in the specification embodiments and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, including a series of steps or units. The method, system, product or device is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] In order to solve the problem that there is a large deviation between the optimal torque fluctuation obtained by theoretical calculation and the actual vehicle test results in the related art, the embodiment of the present application provides a method for determining a torque fluctuation compensation value, which can be applied to a computer device, which includes but is not limited to a fixed device and / or a mobile device, for example, the fixed device includes but is not limited to: a personal computer (PC), or a server, etc., and the server can be a cloud server or an ordinary server. The computer device can be a device in the vehicle, or it can be other devices outside the vehicle.

[0032] Figure 1 A schematic diagram of an implementation process of a method for determining a torque fluctuation compensation value provided in an embodiment of the present application Figure 1 .like Figure 1 As shown, the method may include the following steps 101 to 104:

[0033] Step 101: Determine a first adjustment range of a guide angle at a worm tooth tip in a steering system of a vehicle.

[0034] The vehicle's steering system is a set of devices that can change the vehicle's direction of travel according to the driver's will. The mechanical transmission device in the steering system includes a worm gear and a worm. Figure 2 As shown, the worm wheel 21 is a cylinder with helical teeth on its surface that mesh with the worm. The worm 22 is a spiral-shaped shaft. The working principle of the worm gear transmission is to drive the worm wheel 21 through the rotation of the worm 22 to achieve force transmission and speed change. The teeth on the helical surface of the worm 22 mesh with the tooth surface of the worm wheel 21, thereby driving the worm wheel 21 to rotate. Since the helical angle of the worm 22 is very small, a larger transmission ratio can be achieved in a smaller space.

[0035] The guide angle at the worm tooth top is used to optimize the tooth top guide of the worm, that is, to optimize the torque fluctuation of the steering system from the hardware level; in this way, the interference of the worm wheel when the worm is engaged is reduced, the engagement is smoother, and the torque fluctuation of the steering system is reduced. The first adjustment range refers to the adjustable range of the guide angle at the worm tooth top; for example, the first adjustment range can be 0° to 2°.

[0036] In some implementations, step 101 may be specifically implemented by determining a first adjustment range of the guide angle at the worm tooth top based on the model of the vehicle.

[0037] Since different vehicle models require different degrees of optimization, different guide angle compensation values ​​can be set for different vehicle models.

[0038] In a feasible implementation, the first adjustment range of the guide angle at the worm tooth top can be determined directly according to the vehicle model based on manual experience. Alternatively, in another feasible implementation, at least one of a Design Of Experiment (DOE) method, a real vehicle evaluation method, and a Computer Aided Engineering (CAE) analysis can be used to analyze the vehicle model to obtain the first adjustment range.

[0039] The DOE experimental design method is a statistical method used to optimize and improve vehicle performance. It systematically changes and adjusts input variables (factors that produce torque fluctuations) to observe changes in output variables (torque fluctuations) to determine the optimal experimental design and analyze the impact of factors on the results.

[0040] The real vehicle evaluation method is used to test and evaluate the performance of the vehicle under actual road conditions, mainly including the testing of the vehicle's power, handling, comfort, safety and other aspects. The real vehicle evaluation can provide direct user experience feedback and help engineers understand the performance of the vehicle in actual use. For example, the performance of this model of vehicle is tested on the real vehicle to obtain test results including power, acceleration, handling and driving comfort experience.

[0041] CAE analysis is a technology based on computer simulation. In the automotive field, CAE analysis is mainly used to simulate the vehicle's dynamic performance, structural strength, durability, NVH (noise, vibration and harshness), etc. Through CAE analysis, engineers can find potential problems in the early design stage and optimize them, thereby reducing the number and cost of actual vehicle testing. For example, CAE analysis technology for vehicle handling stability can be based on a multi-body system dynamics model to conduct virtual experiments of steering wheel step angle input, steering wheel pulse angle input, and steady-state rotation driving conditions to predict the vehicle's handling stability performance.

[0042] Step 102: Determine a second adjustment range of the compensation parameter of the steering system.

[0043] The compensation parameter is used to perform waveform compensation on the torque fluctuation of the steering system, that is, to optimize the torque fluctuation of the steering system from the software level. Specifically, it is used to superimpose a compensation waveform on the waveform of the torque fluctuation. The second adjustment range refers to the adjustable range of the compensation parameter, which also refers to the adjustable range of the compensation waveform; for example, the second adjustment range can be 8-12.

[0044] In some implementations, step 102 may be specifically implemented by determining a second adjustment range of the compensation parameter based on torque fluctuations within fluctuation periods of the vehicle at a plurality of different rotational speeds.

[0045] In a feasible implementation, the second adjustment range of the compensation parameter can be determined according to the torque fluctuation in the fluctuation period of the vehicle at multiple different speeds. Alternatively, in another feasible implementation, a DOE experimental design method can be used to determine the second adjustment range of the compensation parameter according to the torque fluctuation in the fluctuation period of the vehicle at multiple different speeds.

[0046] Step 103: Combining and arranging multiple angle values ​​in the first adjustment range and multiple parameter values ​​in the second adjustment range to obtain an adjustment set.

[0047] An adjustment set refers to multiple combinations of angle values ​​and parameter values, and a combination includes an angle value and a parameter value. Since the guide angle and the compensation parameter are two factors at different levels, the adjustable values ​​of these two factors can be combined one by one to analyze the correlation between the two factors.

[0048] In some implementations, step 103 may be specifically implemented by exhaustively enumerating multiple angle values ​​in the first adjustment range, exhaustively enumerating multiple parameter values ​​in the second adjustment range, and combining the multiple angle values ​​and the multiple parameter values ​​one by one to obtain an adjustment set.

[0049] Step 104, testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain an optimal combination of angle values ​​and parameter values; the angle values ​​and parameter values ​​in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

[0050] In some implementations, step 104 may be specifically implemented by testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set using a DOE experimental design method to obtain an optimal combination of angle values ​​and parameter values.

[0051] In the embodiment of the present application, by optimizing the guide angle at the top of the worm gear, the interference of the worm wheel during the worm meshing can be reduced, making the meshing smoother, thereby reducing the torque fluctuation of the steering system; by performing waveform compensation on the torque fluctuation of the steering system, the torque fluctuation can be weakened. In this way, the present application not only weakens the torque fluctuation by optimizing the top guide of the worm gear, but also weakens the torque fluctuation by performing waveform compensation on the torque fluctuation of the steering system. It comprehensively considers the optimization at the hardware level and the software level, and can achieve the optimal compensation effect. The obtained optimal torque fluctuation has a small deviation from the actual vehicle test result.

[0052] Figure 3 A schematic diagram of an implementation process of a method for determining a torque fluctuation compensation value provided in an embodiment of the present application Figure 2 .like Figure 3As shown, the method may include the following steps 301 to 309:

[0053] Step 301, determine the model of the vehicle, multiple devices in the steering system, the matching relationship between the multiple devices during steering, and the optimization target of the steering system; the optimization target includes: minimizing the torque fluctuation of the steering system while meeting the overlap requirements of the worm gear and the strength requirements of the worm in the steering system.

[0054] The vehicle models can be divided based on factors such as the type, purpose, size, weight, displacement, etc. The steering system may include, but is not limited to, a steering wheel, a steering column, a steering transmission mechanism, a hydraulic power steering system, an electronically controlled hydraulic power steering system, an electric power steering system, a four-wheel steering system, a wire-controlled steering system, and other devices. The various devices in the steering system work together to achieve the steering of the vehicle. Therefore, when optimizing the guide angle of the worm gear top, the coordination relationship of multiple devices during steering can be considered to improve the optimization effect of torque fluctuation.

[0055] The overlap of worm gears refers to the percentage of the contact area between the worm wheel and the worm gear when they are meshing to the total area of ​​the worm gear tooth surface; the higher the overlap, the larger the meshing area, and the more stable and reliable the transmission performance; the overlap of worm gears is generally above 80%. The worm gear is subjected to bending stress, shear stress and contact stress during operation, so the strength requirement of the worm gear is crucial to ensure the normal operation of mechanical equipment.

[0056] Step 302: using an experimental design method to analyze the model of the vehicle, the devices in the steering system, the coordination relationship between the devices during steering, and the optimization target of the steering system to obtain the first adjustment range.

[0057] In a feasible implementation method, DOE experimental design method, real vehicle evaluation and CAE analysis can be used to analyze the vehicle model, each device in the steering system, and the coordination relationship of each device during steering. Under the premise of meeting the worm gear overlap requirements, worm strength requirements, and minimizing torque fluctuations, the optimal value of the guide angle can be obtained.

[0058] Step 303: Detect torque fluctuations of the steering system at a plurality of different rotation speeds through a torque damping module.

[0059] In a feasible implementation, the torque damping module can be deployed in an electronic control unit (ECU); in this way, the frequency and magnitude of torque fluctuations in the steering system can be monitored to perform waveform compensation according to the specific performance of the torque fluctuations.

[0060] Step 304: determine a compensation waveform that matches the torque fluctuation; the compensation waveform is a waveform that matches the frequency of the torque fluctuation and whose phase difference with the torque fluctuation satisfies a first threshold.

[0061] The first threshold value can be preset, for example, the first threshold value can be set to 180°. The compensation waveform refers to a waveform that matches the frequency of the torque fluctuation and whose phase difference with the torque fluctuation satisfies the first threshold value; thus, by superimposing a compensation waveform on the torque fluctuation, the fluctuation value can be eliminated. Matching the frequency of the torque fluctuation means that the frequency is the same as or similar to the frequency of the torque fluctuation.

[0062] Step 305: Determine the second adjustment range based on the parameter value of the compensation waveform.

[0063] Since different compensation values ​​(parameter values ​​of the compensation waveform) are set for different rotation speeds, the second adjustment range includes multiple parameter values.

[0064] Step 306: Combine and arrange the multiple angle values ​​in the first adjustment range and the multiple parameter values ​​in the second adjustment range to obtain an adjustment set.

[0065] Step 307: Test multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain a test result for each of the multiple combinations.

[0066] In a feasible implementation, a DOE experimental design method may be used to test multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain a test result for each of the multiple combinations.

[0067] Step 308: Determine, from the multiple combinations, a combination whose test result is that the torque fluctuation satisfies the second threshold, to obtain multiple combinations to be determined.

[0068] The second threshold value may be preset, for example: the torque fluctuation range of a passenger vehicle is usually controlled to have a value not exceeding 7%, while the torque fluctuation range of a freight vehicle is controlled to have a value not exceeding 10%.

[0069] Step 309: Determine the optimal combination from the multiple combinations to be determined based on the performances corresponding to the multiple combinations to be determined; the angle value and parameter value in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

[0070] In the embodiment of the present application, by optimizing the guide angle at the top of the worm gear, the interference of the worm wheel during the worm meshing can be reduced, making the meshing smoother, thereby reducing the torque fluctuation of the steering system; by performing waveform compensation on the torque fluctuation of the steering system, the torque fluctuation can be weakened. In this way, the present application not only weakens the torque fluctuation by optimizing the top guide of the worm gear, but also weakens the torque fluctuation by performing waveform compensation on the torque fluctuation of the steering system. It comprehensively considers the optimization at the hardware level and the software level, and can achieve the optimal compensation effect. The obtained optimal torque fluctuation has a small deviation from the actual vehicle test result.

[0071] Figure 4 A schematic diagram of the implementation process of a torque fluctuation optimization method provided in the embodiment of the present application Figure 1 .like Figure 4 As shown, the method may include the following steps 401 to 403:

[0072] Step 401: Add a guide angle of a target angle value at a worm tooth top in a steering system of a vehicle.

[0073] The target angle value is an angle value in the optimal combination determined by the above torque fluctuation compensation value determination method; for example, the target angle value can be set to 1°.

[0074] Step 402: Determine a target parameter value of a compensation parameter of the steering system based on the rotational speed of the vehicle and the torque fluctuation of the steering system; the target angle value and the target parameter value are an optimal combination determined by the above-mentioned method for determining the torque fluctuation compensation value.

[0075] The target parameter value is a parameter value in the optimal combination determined by the above-mentioned method for determining the torque fluctuation compensation value; for example, the target parameter value may be 8.

[0076] In some embodiments, the specific implementation method of step 402 may be: determining the correspondence between multiple different rotational speeds and parameter values ​​of the compensation parameter; from the correspondence, determining the parameter value that matches the rotational speed of the vehicle; the waveform corresponding to the matched parameter value matches the frequency of the torque fluctuation, and the phase difference with the torque fluctuation satisfies a first threshold; and using the matched parameter value as the target parameter value.

[0077] Step 403: Optimize the torque fluctuation of the steering system based on the target parameter value.

[0078] In some implementations, step 403 may be specifically implemented by superimposing a compensation waveform corresponding to the target parameter value on the torque fluctuation of the steering system to weaken the torque fluctuation.

[0079] In the embodiment of the present application, by adding a guide angle at the top of the worm gear, the interference of the worm wheel during the worm meshing can be reduced, making the meshing smoother, thereby reducing the torque fluctuation of the steering system; by performing waveform compensation on the torque fluctuation of the steering system, the torque fluctuation can be weakened. In this way, the present application not only weakens the torque fluctuation by optimizing the top guide of the worm gear, but also weakens the torque fluctuation by performing waveform compensation on the torque fluctuation of the steering system. It comprehensively considers the optimization at the hardware level and the software level, and can achieve the optimal compensation effect. The obtained optimal torque fluctuation has a small deviation from the actual vehicle test result.

[0080] The following describes the application of the torque fluctuation optimization method provided in the embodiment of the present application in actual scenarios.

[0081] The current form of power steering used in passenger cars is electronic power steering. According to the load conditions of the application vehicle model, the main applications include column-mounted Electric Power Steering (C-EPS), dual-pinion Electric Power Steering (DP-EPS) and rack-mounted Electric Power Steering (R-EPS). This application is applied to C-EPS whose reduction mechanism is a worm gear type.

[0082] When the car turns, the steering force is transmitted to the wheels in contact with the road through the steering wheel, steering column, steering gear, and steering knuckle, so that the wheels overcome the ground resistance and rotate, thereby achieving the car's steering. For considerations such as vehicle layout, collision safety, and disassembly and assembly, a steering universal joint is installed at the steering shaft and the input end of the steering gear.

[0083] For the vehicle steering system, in addition to the requirements of high reliability, no abnormal noise, easy disassembly and assembly, it is also required to have a good operating feel to ensure good steering performance. Among them, the steering torque fluctuation is one of the main factors affecting its operating feel. If the steering torque fluctuation is too large, it will seriously affect the driver's subjective feeling of the steering system, easily cause the driver's discomfort and fatigue, and bring potential dangers to driving. Therefore, when developing the steering system, the steering torque fluctuation must be controlled within a certain range.

[0084] Based on the composition and force transmission form of the C-EPS steering system, it can be seen that the torque fluctuation of the steering system mainly comes from its steering system layout and the internal structure of the steering system components. Among them, the steering intermediate shaft adopts a universal joint to transmit torque. The non-uniform speed characteristic of its torque transmission is the main factor causing the torque fluctuation of the steering system. During the design, the spatial angle of each component of the steering system is reasonable and the phase angle of the steering intermediate shaft is optimized to reduce the torque fluctuation of the steering system. Figure 5 As shown, by optimizing the arrangement angles of the steering column AB, the steering intermediate shaft BC, the steering gear input shaft CD, and the phase angle of the steering intermediate shaft BC, the torque fluctuation of the steering system is controlled within a reasonable range.

[0085] The related technologies have the following technical problems:

[0086] 1. During the data design phase, only the optimal torque fluctuation based on the overall layout can be obtained through theoretical calculations. However, the steering torque fluctuation is also affected by the components of the system, and the final result deviates greatly from the actual vehicle evaluation effect.

[0087] 2. This technology is usually difficult to deploy due to the limited total layout space, which in turn sacrifices other layout spaces, resulting in greater mutual influence between systems, thereby increasing design costs.

[0088] 3. The steering system torque fluctuation is optimized through system layout. Once the design is locked, it is impossible to further optimize the steering system torque wave action design at a later stage.

[0089] To this end, the present application has found in multiple tests that during the torque transmission period of the worm-gear C-EPS, there will be certain periodic fluctuations in the worm-gear meshing, and this fluctuation value superimposed on the steering system will cause the steering system torque fluctuation to increase. Based on this, by optimizing the tooth top guide of the worm, the interference of the worm wheel during the worm meshing is reduced, and the meshing is smoother, thereby reducing the torque fluctuation of the steering system. At the same time, since the C-EPS assist controls the motor output torque through software, a torque damping module is added to its ECU to monitor the frequency and size of the system torque fluctuation. According to the specific performance of the fluctuation, a sinusoidal wave compensation with the same (or similar) frequency is superimposed. By adjusting the phase of the compensation, the compensation is staggered by 180° as much as possible with the torque fluctuation, thereby achieving the purpose of weakening the fluctuation value. Different compensation values ​​are set at different speeds of the steering wheel input, and the optimal compensation effect can be achieved.

[0090] The present application aims to provide a solution for optimizing torque fluctuation of a passenger car steering system.

[0091] like Figure 6As shown in the figure, a 1° guide angle is added at the top of the worm gear. Because different models require different degrees of optimization, the optimized guide angle values ​​are also different. DOE real vehicle experimental design method, real vehicle evaluation and CAE analysis can be used to optimize the design in the range of 0° to 2°. Under the premise of meeting the overlap requirements of the worm gear and the strength requirements of the worm gear, the optimal guide angle optimization value can be obtained. At the same time, in the electronic control software, such as Figure 7 , add a torque damping module, monitor the torque fluctuation period in real time (as shown by the solid line), and superimpose a sine wave compensation with the same (or similar) frequency (as shown by the dotted line) based on the detected torque fluctuation, so that its phase is staggered by 180°, thereby performing torque compensation in the opposite direction to achieve the purpose of weakening the system torque fluctuation. The compensation frequency and compensation size can also be verified through the DOE real vehicle experimental design method to obtain the optimal compensation value.

[0092] Compared with the related art, the technical solution of this application has at least the following technical effects:

[0093] 1. During the actual vehicle performance evaluation stage, if the steering torque fluctuation does not meet the requirements and the system layout cannot be optimized, the torque fluctuation of the steering system can be optimized by optimizing the internal functional structure of the steering column (the tooth top guide of the worm gear).

[0094] 2. When the overall layout cannot meet the steering torque fluctuation arrangement, a system optimization solution can be provided to make concessions for the overall layout and reduce the design cost.

[0095] 3. Reduce steering system torque fluctuation, improve steering performance, and enhance the driver's subjective driving experience.

[0096] The embodiment of the present application provides a device for determining a torque fluctuation compensation value. Figure 8 A schematic diagram of the structure of a torque fluctuation compensation value determination device 800 provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the torque fluctuation compensation value determination device 800 includes: a determination module 810 and a first processing module 820, wherein:

[0097] A determination module 810 is configured to determine a first adjustment range of a guide angle at a worm tooth tip in a steering system of a vehicle;

[0098] The determination module 810 is further configured to determine a second adjustment range of the compensation parameter of the steering system;

[0099] A first processing module 820 is configured to combine and arrange a plurality of angle values ​​in the first adjustment range and a plurality of parameter values ​​in the second adjustment range to obtain an adjustment set;

[0100] The first processing module 820 is further configured to test multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain an optimal combination of angle values ​​and parameter values; the angle values ​​and parameter values ​​in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

[0101] In some embodiments, the determination module 810 is further configured to: determine the model of the vehicle, the multiple devices in the steering system, the coordination relationship between the multiple devices during steering, and the optimization target of the steering system; the optimization target includes minimizing the torque fluctuation of the steering system while satisfying the overlap requirements of the worm gear and the strength requirements of the worm in the steering system; and use an experimental design method to analyze the model of the vehicle, the multiple devices in the steering system, the coordination relationship between the multiple devices during steering, and the optimization target of the steering system to obtain the first adjustment range.

[0102] In some embodiments, the determination module 810 is further configured to: detect the torque fluctuation of the steering system at multiple different speeds through a torque damping module; determine a compensation waveform that matches the torque fluctuation; the compensation waveform is a waveform that matches the frequency of the torque fluctuation and has a phase difference with the torque fluctuation that satisfies a first threshold; and determine the second adjustment range based on the parameter value of the compensation waveform.

[0103] In some embodiments, the first processing module 820 is further configured to: test multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain a test result for each of the multiple combinations; determine from the multiple combinations a combination whose test result is a torque fluctuation that satisfies a second threshold, to obtain multiple combinations to be determined; and determine the optimal combination from the multiple combinations to be determined based on the performance corresponding to the multiple combinations to be determined.

[0104] The embodiment of the present application provides a torque fluctuation optimization device, Fig. 9 A schematic diagram of the structure of a torque fluctuation optimization device 900 provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the torque fluctuation optimization device 900 includes: a setting module 910 and a second processing module analysis unit 920, wherein:

[0105] A setting module 910 is configured to add a guide angle of a target angle value at a worm tooth top in a steering system of a vehicle;

[0106] The second processing module 920 is configured to determine a target parameter value of a compensation parameter of the steering system based on the rotation speed of the vehicle and the torque fluctuation of the steering system; the target angle value and the target parameter value are an optimal combination determined by the above-mentioned method for determining the torque fluctuation compensation value;

[0107] The second processing module 920 is further configured to optimize the torque fluctuation of the steering system based on the target parameter value.

[0108] In some embodiments, the second processing module 920 is further configured to: determine the correspondence between multiple different rotational speeds and parameter values ​​of compensation parameters; determine the parameter value that matches the rotational speed of the vehicle from the correspondence; the waveform corresponding to the matched parameter value matches the frequency of the torque fluctuation, and the phase difference with the torque fluctuation satisfies a first threshold; and use the matched parameter value as the target parameter value.

[0109] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0110] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software, and firmware.

[0111] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0112] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0113] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0114] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0115] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0116] It should be noted that Fig.10 A schematic diagram of a hardware entity of a computer device in an embodiment of the present application is shown in FIG. Fig.10 As shown, the hardware entity of the computer device 1000 includes: a processor 1001, a communication interface 1002 and a memory 1003, wherein:

[0117] Processor 1001 generally controls the overall operation of computer device 1000 .

[0118] The communication interface 1002 enables the computer device to communicate with other terminals or servers through a network.

[0119] The memory 1003 is configured to store instructions and applications executable by the processor 1001, and can also cache data to be processed or processed by the processor 1001 and various modules in the computer device 1000 (for example, image data, audio data, voice communication data, and video communication data), which can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data transmission can be performed between the processor 1001, the communication interface 1002, and the memory 1003 through the bus 1004.

[0120] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0121] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0122] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0123] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0124] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0125] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0126] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0127] The above description is only an implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for determining a torque fluctuation compensation value, characterized in that: The torque fluctuation compensation value determination method comprises: Determining a first adjustment range of a guide angle at a worm tooth tip in a steering system of a vehicle; determining a second adjustment range of a compensation parameter of the steering system; Combining and arranging a plurality of angle values ​​in the first adjustment range and a plurality of parameter values ​​in the second adjustment range to obtain an adjustment set; A plurality of combinations of angle values ​​and parameter values ​​in the adjustment set are tested to obtain an optimal combination of angle values ​​and parameter values; the angle values ​​and parameter values ​​in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

2. The method for determining the torque fluctuation compensation value according to claim 1, characterized in that: The method of determining a first adjustment range of a guide angle at a worm tooth tip in a steering system of a vehicle comprises: Determining the model of the vehicle, multiple devices in the steering system, the matching relationship between the multiple devices during steering, and the optimization target of the steering system; the optimization target includes: minimizing the torque fluctuation of the steering system while meeting the overlap requirement of the worm gear and the strength requirement of the worm in the steering system; The first adjustment range is obtained by analyzing the model of the vehicle, the devices in the steering system, the coordination relationship between the devices during steering, and the optimization target of the steering system using an experimental design method.

3. The method for determining the torque fluctuation compensation value according to claim 1 or 2, characterized in that: Determining a second adjustment range of the compensation parameter of the steering system includes: detecting torque fluctuations of the steering system at a plurality of different speeds by means of a torque damping module; Determine a compensation waveform that matches the torque fluctuation; the compensation waveform is a waveform that matches the frequency of the torque fluctuation and whose phase difference with the torque fluctuation satisfies a first threshold; The second adjustment range is determined based on the parameter value of the compensation waveform.

4. The method for determining the torque fluctuation compensation value according to claim 1 or 2, characterized in that: The testing of multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain an optimal combination of angle values ​​and parameter values ​​includes: Testing multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain a test result for each of the multiple combinations; Determine, from the plurality of combinations, a combination whose test result indicates that the torque fluctuation satisfies a second threshold, to obtain a plurality of combinations to be determined; Based on the performances corresponding to the multiple combinations to be determined, the optimal combination is determined from the multiple combinations to be determined.

5. A torque fluctuation optimization method, characterized in that: The torque fluctuation optimization method comprises: Adding a guide angle of a target angle value at the top of the worm gear in the vehicle's steering system; Determining a target parameter value of a compensation parameter of the steering system based on the rotation speed of the vehicle and the torque fluctuation of the steering system; the target angle value and the target parameter value are an optimal combination determined by the torque fluctuation compensation value determination method described above; The torque fluctuation of the steering system is optimized based on the target parameter value.

6. The method according to claim 5, characterized in that The step of determining a target parameter value of a compensation parameter of the steering system based on the rotation speed of the vehicle and the torque fluctuation of the steering system comprises: Determining a correspondence between a plurality of different rotational speeds and parameter values ​​of a compensation parameter; Determine a parameter value that matches the rotation speed of the vehicle from the corresponding relationship; a waveform corresponding to the matched parameter value matches the frequency of the torque fluctuation, and a phase difference with the torque fluctuation satisfies a first threshold; The matched parameter value is used as the target parameter value.

7. A torque fluctuation compensation value determination device, characterized in that: The torque fluctuation compensation value determining device comprises: A determination module configured to determine a first adjustment range of a guide angle at a worm tooth tip in a steering system of a vehicle; The determination module is further configured to determine a second adjustment range of a compensation parameter of the steering system; A first processing module is configured to combine and arrange a plurality of angle values ​​in the first adjustment range and a plurality of parameter values ​​in the second adjustment range to obtain an adjustment set; The first processing module is further configured to test multiple combinations of angle values ​​and parameter values ​​in the adjustment set to obtain an optimal combination of angle values ​​and parameter values; the angle values ​​and parameter values ​​in the optimal combination are compensation values ​​for optimizing the torque fluctuation of the steering system.

8. A torque fluctuation optimization device, characterized in that: The torque fluctuation optimization device comprises: a setting module configured to add a guide angle of a target angle value at a worm tooth top in a steering system of the vehicle; a second processing module configured to determine a target parameter value of a compensation parameter of the steering system based on a rotation speed of the vehicle and a torque fluctuation of the steering system; the target angle value and the target parameter value are an optimal combination determined by the torque fluctuation compensation value determination method; The second processing module is further configured to optimize the torque fluctuation of the steering system based on the target parameter value.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 4, or 5 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4, or 5 to 6 are implemented.

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