EPS torsion bar torque signal gradient calculation method based on linear compensation

Abstract

The invention discloses an EPS torsion bar torque signal gradient calculation method based on linear compensation, and the method comprises the steps: enabling an EPS to judge whether the mean value calculation of torsion bar torque signals of a main road and a side road is supported or not according to a current torsion bar torque sensor state signal and a torsion bar torque sensor type signal; linear extrapolation compensation is carried out on the torque signals of the main and auxiliary road torsion bars according to the original values and sampling time of the torque signals of the main and auxiliary road torsion bars, amplitude limiting processing is carried out on the mean value of the linear extrapolation values of the torque signals of the main and auxiliary road torsion bars based on the original values of the torque signals of the main and auxiliary road torsion bars, and low-pass filtering operation is carried out on the amplitude limiting result to obtain the torque signals of the main and auxiliary road torsion bars. According to the calculation method, the real-time performance and reliability of the torsion bar torque of an EPS software system and the gradient input signal of the torsion bar torque are improved, and a foundation is laid for the excellent performance of stability control of the EPS system.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a method for calculating an EPS torsion bar torque signal gradient based on linear compensation. Background Art

[0002] Under the wave of software-defined cars, the electrification of automobile chassis is developing rapidly. Among them, electric power steering (EPS) is a very important part of chassis lateral control. The electric power steering identifies the driver's steering input torque and provides a smooth and safe motor assist torque to help the driver quickly let the vehicle enter the desired route. Therefore, during the steering assist process, the driver expects the electric power steering to maintain vibration stability under all working conditions. This requires the electric power steering to ensure the robustness of the system under different working conditions during the motor control process, and no self-excited vibration.

[0003] At present, the electric power steering machines of some cars on the market will produce different degrees of self-excited vibration when the driving road is bumpy or the external load is large. This is often caused by the software system's poor ability to handle the stability of the EPS torsion bar torque sensor signal. Therefore, how to do a good job in the stability processing of the torsion bar torque sensor signal is the top priority of the stability control of the electric power steering machine. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to process the stability of the torsion bar torque sensor signal.

[0005] In order to solve the above technical problems, the present invention provides a method for calculating the gradient of EPS torsion bar torque signal based on linear compensation, which is characterized by comprising the following steps:

[0006] Step 1, the electric power steering system receives in real time the average vehicle speed signal and the safe vehicle speed signal of the communication input module, the original torsion bar torque of the main and auxiliary roads, the sampling time of the torsion bar torque of the main and auxiliary roads, the torsion bar torque signal state, the torsion bar torque sensor type, and the motor rotor speed of the sensor signal acquisition module;

[0007] Step 2: judging the validity of the torsion bar torque signal and the validity of the torsion bar torque signal redundancy according to the torsion bar torque signal state and the torsion bar torque sensor type in step 1;

[0008] Step 3, according to the average vehicle speed signal and the motor rotor speed in step 1, combined with the calibration parameters, the torsion bar torque extrapolation compensation coefficient, the torsion bar torque extrapolation compensation dead zone, and the torsion bar torque gradient PT1 filter coefficient are obtained by linear interpolation calculation;

[0009] Step 4, according to the original torsion bar torque of the main and auxiliary roads and the sampling time of the torsion bar torque of the main and auxiliary roads in step 1, respectively perform extrapolation compensation calculation on the torsion bar torque of the main and auxiliary roads to obtain the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque;

[0010] Step 5, according to the validity of the main and auxiliary torsion bar torque signals in step 2, the validity of the torsion bar torque signal redundancy, the torsion bar torque extrapolation compensation coefficient, and the torsion bar torque extrapolation compensation dead zone in step 3, combined with the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque in step 4, calculate the compensation torsion bar torque;

[0011] Step 6: According to the safe vehicle speed signal in step 1, a threshold value of the allowable deviation between the compensation torsion bar torque and the original torsion bar torque of the main road is calculated by linear interpolation, and the upper boundary and the lower boundary of the compensation torsion bar torque are calculated in combination with the original torsion bar torque of the main road in step 1;

[0012] Step 7, according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, the compensating torsion bar torque in step 5 is limited to obtain a compensating limiting torsion bar torque;

[0013] Step 8, performing a secondary safety check on the compensating limiting torsion bar torque in step 7 according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, and obtaining a safety check result of the compensating limiting torsion bar torque;

[0014] Step 9, calculating a safe torsion bar torque according to the safety check result of the compensation limiting torsion bar torque in step 8 and the main road torsion bar torque in step 1;

[0015] Step 10, according to the original torsion bar torque of the main and auxiliary roads in step 1 and the safety torsion bar torque in step 9, respectively calculate the main road torsion bar torque gradient, the auxiliary road torsion bar torque gradient, and the safety torsion bar torque gradient to be filtered;

[0016] Step 11, according to the original torsion bar torque of the main and auxiliary roads and the sampling time of the torsion bar torque of the main and auxiliary roads in step 1, combined with the task scheduling cycle of the current function, respectively perform linear interpolation compensation calculation on the main road torsion bar torque gradient and the auxiliary road torsion bar torque gradient in step 10 to obtain the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient;

[0017] Step 12, according to the torsion bar torque gradient PT1 filter coefficient in step 3, respectively perform PT1 filtering on the safety torsion bar torque gradient to be filtered in step 10 and the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient in step 11 to obtain the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient;

[0018] Step 13, based on the validity of the main and auxiliary road torsion bar torque signals, the validity of the torsion bar torque signal redundancy, and the torsion bar torque gradient interpolation switch in step 2, combined with the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient in step 12, calculate the safety torsion bar torque gradient.

[0019] Preferably, in step 2,

[0020] When the state of the torsion bar torque signal is that the main signal is valid and the auxiliary signal is valid, the torsion bar torque signal is valid; otherwise, the torsion bar torque signal is invalid;

[0021] When the torsion bar torque signal is valid and the torsion bar torque sensor type matches the configuration parameters, the torsion bar torque signal redundancy is valid; otherwise, the torsion bar torque signal redundancy is invalid.

[0022] Preferably, in step 3,

[0023] When the average vehicle speed signal V avg When it is less than the abscissa X0 of the first coordinate point in the calibration parameter array, the linear interpolation result Y of the calibration parameter is equal to the ordinate Y0 of the first coordinate point in the calibration parameter array;

[0024] When the average vehicle speed signal V avg Greater than the horizontal coordinate X of the last coordinate point in the calibration parameter array max When the linear interpolation result Y of the calibration parameter is equal to the ordinate Y of the first coordinate point in the calibration parameter array max ;

[0025] When the average vehicle speed signal V avg Greater than or equal to the horizontal coordinate X0 of the first coordinate point in the calibration parameter array, and less than or equal to the horizontal coordinate X0 of the last coordinate point in the calibration parameter array max When the average vehicle speed signal V avg The horizontal coordinate X of the i-1th coordinate point in the calibration parameter array i-1 and the horizontal coordinate X of the i-th coordinate point i The linear interpolation calculation formula of the calibration parameters is as follows:

[0026] Y=(Y i -Y i-1 )*(V avg -X i-1 ) / (X i -X i-1 )+Y i-1

[0027] Where Y is the result of linear interpolation of calibration parameters, Y i is the ordinate of the i-th coordinate point of the calibration parameter, Y i-1is the ordinate of the i-1th coordinate point of the calibration parameter, X i is the horizontal coordinate of the ith coordinate point of the calibration parameter, X i-1 is the horizontal coordinate of the i-1th coordinate point of the calibration parameter, V avg It is the mechanical conversion factor of EPS from torsion bar torque to rack force.

[0028] Preferably, the calculation of the main circuit compensation torsion bar torque in step 4 includes the following cases:

[0029] When the value of the original torsion bar torque of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main road compensation torsion bar torque value TBT ExtrapoMain Equal to the value of the original torsion bar torque TBT of the main road Main ;

[0030] When the value of the original torsion bar torque of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main circuit compensation torsion bar torque TBT ExtrapoMain The calculation formula is as follows;

[0031]

[0032] Among them, TBT ExtrapoMain To compensate the torsion bar torque, TBT Main The original torsion bar torque of the main road, TBT MainLast The value of the main road original torsion bar torque in the previous sampling period, TBT DeadZone is the torsion bar torque extrapolation compensation dead zone, T Main is the main road torsion bar torque sampling time, T MainLast is the value of the previous sampling period of the main road torsion bar torque sampling time; E is the torsion bar torque extrapolation compensation coefficient.

[0033] Preferably, the calculation of the auxiliary road compensation torsion bar torque in step 4 includes the following cases:

[0034] When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle RedLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensation torsion bar torque value TBT ExtrapoRed Equal to the value of the original torsion bar torque TBT of the auxiliary road Red ;

[0035] When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle Red The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensates the torsion bar torque TBT ExtrapoRed The calculation formula is as follows;

[0036]

[0037] Of which: TBT ExtrapoRed To compensate the torsion bar torque for the auxiliary road, TBT Red is the original torsion bar torque of the auxiliary road, TBT RedLast is the value of the original torsion bar torque of the auxiliary road in the previous sampling period, TBT DeadZone is the torsion bar torque extrapolation compensation dead zone, T Red is the auxiliary road torsion bar torque sampling time, T RedLast is the value of the previous sampling period of the auxiliary road torsion bar torque sampling time, and E is the torsion bar torque extrapolation compensation coefficient.

[0038] Preferably, in step 5, the torsion bar torque TBT is compensated Extrapo The calculation results include the following cases:

[0039] When the torsion bar torque signal is invalid, compensate the torsion bar torque TBT Extrapo is equal to 0;

[0040] When the torsion bar force signal is valid and the torsion bar torque gradient average switch is turned on, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMain and auxiliary road compensation torsion bar torque TBT ExtrapoRed The average value of

[0041] When the torsion bar force signal is valid and the torsion bar torque gradient mean switch is closed, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMain .

[0042] Preferably, in step 6, the torque deviation thresholds corresponding to different vehicle speeds are set, and the safe vehicle speed in step 1 is used as input, and the torque deviation thresholds corresponding to the output at different vehicle speeds are obtained by linear table lookup. The specific calculation formulas for the upper boundary of the compensation torsion bar torque and the lower boundary of the compensation torsion bar torque are:

[0043] TBT uplim =TBT Org +TBT t h re

[0044] TBT lowlim =TBTOrg -TBT t h re

[0045] TBT uplim To compensate the upper limit of the torsion bar torque, TBT lowlim To compensate for the lower limit of the torsion bar torque, TBT org The original torsion bar torque of the main road that has been effectively tested, TBT thre is the torque deviation threshold corresponding to different safe vehicle speeds.

[0046] Preferably, in step 7, the compensating torsion bar torque is limited to upper and lower boundaries according to the following logic:

[0047] When the limit switch is closed, the upper and lower boundaries of the compensation torsion bar torque are not limited;

[0048] When the limit switch is turned on, the uplim To compensate the upper limit of the torsion bar torque, TBT lowlim To compensate for the lower boundary of the torsion bar torque, the upper and lower boundaries of the torsion bar torque are limited.

[0049] Preferably, in step 9, the safety torsion bar torque TBT safe The calculation results include the following cases:

[0050] When C flag3 =1 and the main circuit original torsion bar torque signal is valid, TBT safe =TBT Main ,

[0051] When C flag3 =1 and the main circuit original torsion bar torque signal is invalid, TBT safe =0,

[0052] When C flag3 =0, TBT safe =TBT limit .

[0053] Preferably, in step 10, the calculation formula of the torsion bar torque gradient Grad is as follows:

[0054] Grad=TBT-TBT Last

[0055] Among them, TBT is the torsion bar torque of the current cycle, TBT Last is the torsion bar torque of the previous cycle.

[0056] Preferably, in step 11, the linear interpolation compensation calculation formula of the torsion bar torque gradient is as follows:

[0057]

[0058] Among them, Grad ExtrapoH is the linear extrapolation value of the torsion bar torque gradient, Grad is the torsion bar torque gradient, T Sample is the original torsion bar torque sampling time, T SampleLast is the sampling time of the original torsion bar torque in the previous cycle, T Task This is the task scheduling period of the function where this step is located.

[0059] Preferably, in step 12, the calculation process of the PT1 filtering logic of the torsion bar torque compensation gradient is:

[0060] Calculate the difference between the torsion bar torque compensation gradient and the torsion bar torque filtering gradient of the previous cycle as the compensation gradient;

[0061] Calculate the product of the compensation gradient and the PT1 filter coefficient as the compensation gradient after PT1 filtering;

[0062] The sum of the compensation gradient after PT1 filtering and the torsion bar torque filtering gradient of the previous cycle is the torsion bar torque filtering gradient.

[0063] Preferably, in step 12, the calculation process of the safety torsion bar torque gradient includes the following cases:

[0064] When the sensor sampling signal is invalid, the safety torsion bar torque gradient Grad is the gradient invalid value Grad SNA ;

[0065] When the sensor sampling signal is valid and the torsion bar torque gradient interpolation switch is turned on, the safety torsion bar torque gradient Grad is the safety torsion bar torque filter gradient Grad Extrapo ;

[0066] When the sensor sampling signal is valid, the torsion bar torque gradient interpolation switch is turned on, the average value switch is turned on, the main and auxiliary torsion bar torque signals are valid, and the torsion bar torque signal redundancy is valid, the safety torsion bar torque gradient Grad is the main torsion bar torque filter gradient Grad Main and auxiliary road torsion bar torque filter gradient Grad Red The mean of

[0067] When the sensor sampling signal is valid, the torsion bar torque gradient interpolation switch is turned on, and as long as one of the preset conditions is not met, the safety torsion bar torque gradient Grad becomes the main torsion bar torque filter gradient Grad Main The preset conditions are: condition one, the switch for calculating the average value is turned on; condition two, the torsion bar torque signal of the main and auxiliary roads is valid; condition three, the torsion bar torque signal redundancy is valid.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] The present invention performs linear compensation on the collected torsion bar torque sensor signal based on the difference between the torsion bar torque signal sampling time and the system running time, so that the compensated torsion bar torque sensor signal is more in line with the actual situation, thereby improving the real-time performance and reliability of system control.

[0070] The present invention performs a secondary safety check on the compensation result of the torsion bar torque signal, thereby improving the functional safety level of the torsion bar torque signal and reducing the unexpected risk of sensor failure to the EPS system.

[0071] The present invention adds a filtering calculation method to the process of torsion bar torque gradient calculation, the calculation logic is simple, and the stability control capability based on the torsion bar torque gradient is effectively improved, thereby improving the robustness of the EPS system. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0073] Figure 1 It is a software system architecture diagram of the present invention.

[0074] Figure 2 It is a principle diagram of the calibration parameter linear interpolation calculation method of the present invention.

[0075] Figure 3 It is a flow chart of the secondary safety verification module of the compensation and limiting torsion bar torque of the present invention.

[0076] Figure 4 It is the torsion bar torque gradient PT1 filtering logic block diagram of the present invention.

[0077] Figure 5 It is a logic block diagram of the calculation of the torque gradient of the safety torsion bar of the present invention. DETAILED DESCRIPTION

[0078] 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.

[0079] The present invention discloses a method for calculating the gradient of EPS torsion bar torque signal based on linear compensation, the purpose of which is to calculate the safe torsion bar torque and the safe torsion bar torque gradient according to the current average vehicle speed, safe vehicle speed, motor rotor speed, original torsion bar torque of main and auxiliary roads, sampling time of torsion bar torque of main and auxiliary roads, torsion bar torque signal state, torsion bar torque sensor type and other signals, which can serve as the basis of the power assist function and stability control of the EPS system, effectively improve the stability control capability of the EPS system, reduce the self-excited vibration of the EPS system, improve the functional safety level of the EPS system, and allow the driver to obtain a safer and smoother steering experience.

[0080] In this embodiment, the software architecture of the present invention is as follows Figure 1 As shown in FIG. 1 , it includes a communication input module, a sensor signal acquisition module, a main and auxiliary road signal validity judgment module, a torsion bar torque signal sampling and compensation module, a torsion bar torque signal safety verification module, a torsion bar torque gradient calculation module, and a steering assist and stability control module. The main working process is as follows: the electric power steering (EPS) performs linear compensation and safety verification on the current original torsion bar torque signal to obtain a safe torsion bar torque, and then obtains a safe torsion bar torque gradient through a PT1 filtering calculation method, and outputs the safe torsion bar force data and the safe torsion bar force data gradient to the EPS assist and stability control module.

[0081] Specifically, this embodiment provides a method for calculating the gradient of an EPS torsion bar torque signal based on linear compensation, comprising the following steps:

[0082] Step 1, the electric power steering system receives in real time the average vehicle speed signal and the safe vehicle speed signal of the communication input module, the main and auxiliary road original torsion bar torque, the main and auxiliary road torsion bar torque sampling time, the torsion bar torque signal state, the torsion bar torque sensor type, and the motor rotor speed of the sensor signal acquisition module.

[0083] Step 2: judging the validity of the torsion bar torque signal and the validity of the torsion bar torque signal redundancy according to the torsion bar torque signal state and the torsion bar torque sensor type in step 1;

[0084] Step 3, according to the average vehicle speed signal and the motor rotor speed in step 1, combined with the calibration parameters, the torsion bar torque extrapolation compensation coefficient, the torsion bar torque extrapolation compensation dead zone, and the torsion bar torque gradient PT1 filter coefficient are obtained by linear interpolation calculation;

[0085] Step 4, according to the original torsion bar torque of the main and auxiliary roads in step 1, the sampling time of the torsion bar torque of the main and auxiliary roads, the torsion bar torque extrapolation compensation coefficient, and the torsion bar torque extrapolation compensation dead zone in step 3, the main and auxiliary road torsion bar torques are respectively extrapolated and compensated to obtain the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque;

[0086] Step 5, according to the validity of the main and auxiliary road torsion bar torque signals in step 2, the validity of the torsion bar torque signal redundancy, and the torsion bar torque gradient mean switch parameter, combined with the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque in step 4, calculate the compensation torsion bar torque;

[0087] Step 6: According to the safe vehicle speed signal in step 1, a threshold value of the allowable deviation between the compensation torsion bar torque and the original torsion bar torque of the main road is calculated by linear interpolation, and the upper boundary and the lower boundary of the compensation torsion bar torque are calculated in combination with the original torsion bar torque of the main road in step 1;

[0088] Step 7, according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, the compensating torsion bar torque in step 5 is limited to obtain a compensating limiting torsion bar torque;

[0089] Step 8, performing a secondary safety check on the compensating limiting torsion bar torque in step 7 according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, and obtaining a safety check result of the compensating limiting torsion bar torque;

[0090] Step 9, calculating a safe torsion bar torque according to the safety check result of the compensation limiting torsion bar torque in step 8 and the main road torsion bar torque in step 1;

[0091] Step 10, according to the original torsion bar torque of the main and auxiliary roads in step 1 and the safety torsion bar torque in step 9, respectively calculate the main road torsion bar torque gradient, the auxiliary road torsion bar torque gradient, and the safety torsion bar torque gradient to be filtered;

[0092] Step 11, according to the original torsion bar torque of the main and auxiliary roads and the sampling time of the torsion bar torque of the main and auxiliary roads in step 1, combined with the task scheduling cycle of the current function, respectively perform linear interpolation compensation calculation on the main road torsion bar torque gradient and the auxiliary road torsion bar torque gradient in step 10 to obtain the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient;

[0093] Step 12, according to the torsion bar torque gradient PT1 filter coefficient in step 3, respectively perform PT1 filtering on the safety torsion bar torque gradient to be filtered in step 10 and the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient in step 11 to obtain the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient;

[0094] Step 13, based on the validity of the main and auxiliary road torsion bar torque signals, the validity of the torsion bar torque signal redundancy, the torsion bar torque gradient interpolation switch parameters, and the torsion bar torque gradient mean switch parameters in step 2, combined with the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient in step 12, calculate the safety torsion bar torque gradient.

[0095] More specifically, step 2 includes the following situations:

[0096] When the state of the torsion bar torque signal is that the main signal is valid and the auxiliary signal is valid, the torsion bar torque signal is valid; otherwise, the torsion bar torque signal is invalid.

[0097] When the torsion bar torque signal is valid and the torsion bar torque sensor type matches the configuration parameters, the torsion bar torque signal redundancy is valid; otherwise, the torsion bar torque signal redundancy is invalid.

[0098] More specifically, in step 3, the calibration parameter linear interpolation calculation method principle is as follows: Figure 2 As shown, the parameter linear interpolation results are divided into the following three cases:

[0099] 1) When the average vehicle speed signal V avg When it is less than the abscissa X0 of the first coordinate point in the calibration parameter array, the linear interpolation result Y of the calibration parameter is equal to the ordinate Y0 of the first coordinate point in the calibration parameter array;

[0100] 2) When the average vehicle speed signal V avg Greater than the horizontal coordinate X of the last coordinate point in the calibration parameter array max When the linear interpolation result Y of the calibration parameter is equal to the ordinate Y of the first coordinate point in the calibration parameter array max ;

[0101] 3) When the average vehicle speed signal V avg Greater than or equal to the horizontal coordinate X0 of the first coordinate point in the calibration parameter array, and less than or equal to the horizontal coordinate X0 of the last coordinate point in the calibration parameter array max When the average vehicle speed signal V avg The horizontal coordinate X of the i-1th coordinate point in the calibration parameter array i-1 and the horizontal coordinate X of the i-th coordinate point i The linear interpolation calculation formula of the calibration parameters is as follows:

[0102] Y=(Y i -Y i-1 )*(V avg -X i-1 ) / (X i -X i-1 )+Y i-1

[0103] Where: Y is the result of linear interpolation of calibration parameters, Y i is the ordinate of the i-th coordinate point of the calibration parameter, Y i-1 is the ordinate of the i-1th coordinate point of the calibration parameter, X i is the horizontal coordinate of the ith coordinate point of the calibration parameter, Xi-1 is the horizontal coordinate of the i-1th coordinate point of the calibration parameter, V avg It is the mechanical conversion factor of EPS from torsion bar torque to rack force, in km / h.

[0104] More specifically, in step 4, the calculation of the main road compensation torsion bar torque is divided into the following two cases:

[0105] 1) When the original torsion bar torque value of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main road compensation torsion bar torque value TBT ExtrapoMain Equal to the value of the original torsion bar torque TBT of the main road Main ;

[0106] 2) When the original torsion bar torque value of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main circuit compensation torsion bar torque TBT ExtrapoMain The calculation formula is as follows;

[0107]

[0108] in:

[0109] TBT ExtrapoMain Main road compensation torsion bar torque, unit Nm

[0110] TBT Main The original torsion bar torque of the main road, in Nm

[0111] TBT MainLast The value of the main road original torsion bar torque in the previous sampling period, in Nm

[0112] TBT DeadZone The torsion bar torque is extrapolated to compensate for the dead zone, in Nm

[0113] T Main Main road torsion bar torque sampling time, unit is us

[0114] T MainLast The value of the previous sampling period of the main road torsion bar torque sampling time, unit is us

[0115] E is the extrapolation compensation coefficient of the torsion bar torque

[0116] The calculation of the auxiliary road compensation torsion bar torque is divided into the following two cases:

[0117] 1) When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle RedLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensation torsion bar torque value TBT ExtrapoRed Equal to the value of the original torsion bar torque TBT of the auxiliary road Red ;

[0118] 2) When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle Red The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensates the torsion bar torque TBT ExtrapoRed The calculation formula is as follows;

[0119]

[0120] in:

[0121] TBT ExtrapoRed Auxiliary road compensation torsion bar torque, unit Nm

[0122] TBT Red is the original torsion bar torque of the auxiliary road, in Nm

[0123] TBT RedLast The value of the original torsion bar torque of the auxiliary road in the previous sampling period, in Nm

[0124] TBT DeadZone The torsion bar torque is extrapolated to compensate for the dead zone, in Nm

[0125] T Red Auxiliary road torsion bar torque sampling time, unit is us

[0126] T RedLast The value of the previous sampling period of the auxiliary road torsion bar torque sampling time, in units of us

[0127] E is the extrapolation compensation coefficient of the torsion bar torque

[0128] More specifically, in step 5, the torsion bar torque TBT is compensated Extrapo The calculation results are divided into the following three cases:

[0129] 1) When the torsion bar torque signal is invalid, compensate the torsion bar torque TBT Extrapo is equal to 0;

[0130] 2) When the torsion bar force signal is valid and the torsion bar torque gradient mean switch is turned on, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMainand auxiliary road compensation torsion bar torque TBT ExtrapoRed The average value of

[0131] 3) When the torsion bar force signal is valid and the torsion bar torque gradient mean switch is closed, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMain .

[0132] More specifically, in step 6, the torque deviation thresholds corresponding to different vehicle speeds are set. The safe vehicle speed in step 1 is used as input, and the torque deviation thresholds corresponding to the output at different vehicle speeds can be obtained by linear table lookup (refer to the method shown in step 3). Therefore, the specific calculation formulas for the upper boundary of the compensation torsion bar torque and the lower boundary of the compensation torsion bar torque are:

[0133] TBT uplim =TBT Org +TBT t h re

[0134] TBT lowlim =TBT Org -TBT t h re

[0135] in:

[0136] TBT uplim To compensate for the upper limit of the torsion bar torque, in Nm;

[0137] TBT lowlim To compensate for the lower limit of the torsion bar torque, unit: Nm;

[0138] TBT org is the original torsion bar torque of the main road that has passed the validity test, in Nm;

[0139] TBT thre is the torque deviation threshold corresponding to different safe vehicle speeds, in Nm;

[0140] More specifically, in step 7, the upper and lower limits of the compensation torsion bar torque are imposed according to the following logic:

[0141] 1) When the limit switch is closed, the upper and lower boundaries of the compensation torsion bar torque are not limited;

[0142] 2) When the limit switch is turned on, TBT uplim To compensate the upper limit of the torsion bar torque, TBT lowlim To compensate for the lower boundary of the torsion bar torque, the upper and lower boundaries of the torsion bar torque are limited;

[0143] More specifically, in step 8, the flow chart of the secondary safety verification module for compensating and limiting the torsion bar torque is as follows: Figure 3 As shown, the torsion bar moment TBT will be compensated limit , Compensation torsion bar torque upper boundary TBT uplim , Compensation torsion bar torque lower boundary TBT lowlim As the input of the secondary safety verification module, the safety verification result C of the compensation limit torsion bar torque is obtained through a series of calculations. flag3 , where T count1 Represents the integral deviation reset time, T count2 Represents the compensation time for torsion bar torque overrun, T thred1 Represents the integral deviation reset time timing threshold (T thred1 Calibration available), T thred2 Represents the compensation torsion bar torque overlimit timing threshold (T thred2 Calibration available), TBT intel Represents the compensation torsion bar torque TBT limit The integral value of the excess part, TBT intelthred Represents the compensation torsion bar torque TBT limit The integral value of the excess part M intel The threshold value (TBT intelthred Calibration available), C flag1 Represents the compensation torsion bar torque TBT limit Exceeding limit integral value TBT intel Whether it exceeds the threshold TBT intelthred , C flag2 Represents the compensation torsion bar torque overlimit timing T count2 Whether it exceeds the threshold T thred2 .

[0144] When compensating the torsion bar moment TBT limit Greater than the upper limit of the torsion bar torque compensation TBT uplim Or less than the lower limit of the compensation torsion bar torque TBT lowlim When T count1 Count reset, T count2 Count plus ten, otherwise T count1 Count plus one, T count2 The count is reduced by one; when T count1 Greater than or equal to T thred1 When TBT intel is equal to zero, otherwise TBT intel Equal to the compensating torsion bar moment TBT limit The integral value of the part exceeding the upper or lower limit; when TBT intel Greater than or equal to TBT intelthred When C flag1 Set to 1, indicating that the integral is too large, otherwise set to zero; when T count2 Greater than or equal to T thred2 When C flag2Set to 1, indicating that the timing is too long, otherwise set to zero; flag1 and C flag2 When both are zero, C flag3 Set to zero, indicating that the verification is passed, otherwise C flag3 If set to 1, it means the verification has not passed.

[0145] More specifically, in step 9, the safety torsion bar torque TBT safe The calculation results are divided into the following three cases:

[0146] 1) C flag3 =1 and the main circuit original torsion bar torque signal is valid, TBT safe =TBT Main

[0147] 2) C flag3 =1 and the main circuit original torsion bar torque signal is invalid, TBT safe =0

[0148] 3) C flag3 =0,TBT safe =TBT limit

[0149] More specifically, in step 10, the calculation formula of the torsion bar torque gradient Grad is as follows:

[0150] Grad=TBT-TBT Last

[0151] in:

[0152] TBT is the torsion bar torque of the current cycle, in Nm;

[0153] TBT Last is the torsion bar torque of the previous cycle, in Nm;

[0154] The calculation of the main road torsion bar torque gradient, the auxiliary road torsion bar torque gradient, and the to-be-filtered safety torsion bar torque gradient is the same as the above process.

[0155] More specifically, in step 11, the linear interpolation compensation calculation formula of the torsion bar torque gradient is as follows:

[0156]

[0157] in:

[0158] Grad ExtrapoH is the linear extrapolation value of the torsion bar torque gradient, in Nm / s

[0159] Grad is the torsion bar torque gradient, unit Nm / s

[0160] T Sampleis the original torsion bar torque sampling time, unit is us

[0161] T SampleLast The sampling time of the original torsion bar torque in the previous cycle, in us

[0162] T Task The task scheduling period of the function in which this step is located, in us

[0163] Main road torsion bar torque compensation gradient Grad CompMain , Auxiliary road torsion bar torque compensation gradient Grad CompRed The calculation principle can be expressed by the above formula.

[0164] More specifically, in step 12, the PT1 filtering logic of the torsion bar torque compensation gradient is as follows: Figure 4 As shown, the calculation process of PT1 filtering is:

[0165] 1) Calculate the difference between the torsion bar torque compensation gradient and the torsion bar torque filtering gradient of the previous cycle as the compensation gradient;

[0166] 2) Calculate the product of the compensation gradient and the PT1 filter coefficient as the compensation gradient after PT1 filtering;

[0167] 3) The sum of the compensation gradient after PT1 filtering and the torsion bar torque filtering gradient of the previous cycle is the torsion bar torque filtering gradient.

[0168] Safety torsion bar torque filter gradient Grad Extrapo , main road torsion bar torque filter gradient Grad Main , Auxiliary road torsion bar torque filter gradient Grad Red The PT1 calculation principle can be expressed by the above formula.

[0169] More specifically, in step 13, the logic diagram of the safety torsion bar torque gradient calculation is as follows: Figure 5 As shown, the calculation process can be divided into the following four cases:

[0170] 1) When the sensor sampling signal is invalid, the safety torsion bar torque gradient Grad is the gradient invalid value Grad SNA ;

[0171] 2) When the sensor sampling signal is valid and the torsion bar torque gradient interpolation switch is turned on, the safety torsion bar torque gradient Grad is the safety torsion bar torque filter gradient Grad Extrapo ;

[0172] 3) When the sensor sampling signal is valid, the torsion bar torque gradient interpolation switch is turned on, the average value calculation switch is turned on, the main and auxiliary road torsion bar torque signals are valid, and the torsion bar torque signal redundancy is valid, the safety torsion bar torque gradient Grad is the main road torsion bar torque filter gradient GradMain and auxiliary road torsion bar torque filter gradient Grad Red The mean of

[0173] 4) When the sensor sampling signal is valid, the torsion bar torque gradient extrapolation switch is turned on, and any of the following conditions is not met:

[0174] ① Calculate average value switch is turned on

[0175] ②The torsion bar torque signal of the main and auxiliary roads is valid

[0176] ③ Torsion bar torque signal redundancy is effective

[0177] The safety torsion bar torque gradient Grad is the main road torsion bar torque filter gradient Grad Main .

[0178] 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 calculating the gradient of EPS torsion bar torque signal based on linear compensation, characterized in that: The following steps are involved: Step 1, the electric power steering system receives in real time the average vehicle speed signal and the safe vehicle speed signal of the communication input module, the original torsion bar torque of the main and auxiliary roads, the sampling time of the torsion bar torque of the main and auxiliary roads, the torsion bar torque signal state, the torsion bar torque sensor type, and the motor rotor speed of the sensor signal acquisition module; Step 2: judging the validity of the torsion bar torque signal and the validity of the torsion bar torque signal redundancy according to the torsion bar torque signal state and the torsion bar torque sensor type in step 1; Step 3, according to the average vehicle speed signal and the motor rotor speed in step 1, combined with the calibration parameters, the torsion bar torque extrapolation compensation coefficient, the torsion bar torque extrapolation compensation dead zone, and the torsion bar torque gradient PT1 filter coefficient are obtained by linear interpolation calculation; Step 4, according to the original torsion bar torque of the main and auxiliary roads and the sampling time of the torsion bar torque of the main and auxiliary roads in step 1, respectively perform extrapolation compensation calculation on the torsion bar torque of the main and auxiliary roads to obtain the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque; Step 5, according to the validity of the main and auxiliary torsion bar torque signals in step 2, the validity of the torsion bar torque signal redundancy, the torsion bar torque extrapolation compensation coefficient, and the torsion bar torque extrapolation compensation dead zone in step 3, combined with the main road compensation torsion bar torque and the auxiliary road compensation torsion bar torque in step 4, calculate the compensation torsion bar torque; Step 6: According to the safe vehicle speed signal in step 1, a threshold value of the allowable deviation between the compensation torsion bar torque and the original torsion bar torque of the main road is calculated by linear interpolation, and the upper boundary and the lower boundary of the compensation torsion bar torque are calculated in combination with the original torsion bar torque of the main road in step 1; Step 7, according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, the compensating torsion bar torque in step 5 is limited to obtain a compensating limiting torsion bar torque; Step 8, performing a secondary safety check on the compensating limiting torsion bar torque in step 7 according to the upper boundary of the compensating torsion bar torque and the lower boundary of the compensating torsion bar torque in step 6, and obtaining a safety check result of the compensating limiting torsion bar torque; Step 9, calculating a safe torsion bar torque according to the safety check result of the compensation limiting torsion bar torque in step 8 and the main road torsion bar torque in step 1; Step 10, according to the original torsion bar torque of the main and auxiliary roads in step 1 and the safety torsion bar torque in step 9, respectively calculate the main road torsion bar torque gradient, the auxiliary road torsion bar torque gradient, and the safety torsion bar torque gradient to be filtered; Step 11, according to the original torsion bar torque of the main and auxiliary roads and the sampling time of the torsion bar torque of the main and auxiliary roads in step 1, combined with the task scheduling cycle of the current function, respectively perform linear interpolation compensation calculation on the main road torsion bar torque gradient and the auxiliary road torsion bar torque gradient in step 10 to obtain the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient; Step 12, according to the torsion bar torque gradient PT1 filter coefficient in step 3, respectively perform PT1 filtering on the safety torsion bar torque gradient to be filtered in step 10 and the main road torsion bar torque compensation gradient and the auxiliary road torsion bar torque compensation gradient in step 11 to obtain the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient; Step 13, based on the validity of the main and auxiliary road torsion bar torque signals in step 2, the validity of the torsion bar torque signal redundancy, and the torsion bar torque gradient interpolation switch, combined with the safety torsion bar torque filter gradient, the main road torsion bar torque filter gradient, and the auxiliary road torsion bar torque filter gradient in step 12, calculate the safety torsion bar torque gradient.

2. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 2, When the state of the torsion bar torque signal is that the main signal is valid and the auxiliary signal is valid, the torsion bar torque signal is valid; otherwise, the torsion bar torque signal is invalid; When the torsion bar torque signal is valid and the torsion bar torque sensor type matches the configuration parameters, the torsion bar torque signal redundancy is valid; otherwise, the torsion bar torque signal redundancy is invalid.

3. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 3, When the average vehicle speed signal V avg When it is less than the abscissa X0 of the first coordinate point in the calibration parameter array, the linear interpolation result Y of the calibration parameter is equal to the ordinate Y0 of the first coordinate point in the calibration parameter array; When the average vehicle speed signal V avg Greater than the horizontal coordinate X of the last coordinate point in the calibration parameter array max When the linear interpolation result Y of the calibration parameter is equal to the ordinate Y of the first coordinate point in the calibration parameter array max ; When the average vehicle speed signal V avg Greater than or equal to the horizontal coordinate X0 of the first coordinate point in the calibration parameter array, and less than or equal to the horizontal coordinate X0 of the last coordinate point in the calibration parameter array max When the average vehicle speed signal V avg The horizontal coordinate X of the i-1th coordinate point in the calibration parameter array i-1 and the horizontal coordinate X of the i-th coordinate point i The linear interpolation calculation formula of the calibration parameters is as follows: And=(And i -AND i-1 )*(V avg -X i-1 ) / (X i -X i-1 )+Y i-1 Where Y is the result of linear interpolation of calibration parameters, Y i is the ordinate of the i-th coordinate point of the calibration parameter, Y i-1 is the ordinate of the i-1th coordinate point of the calibration parameter, X i is the horizontal coordinate of the i-th coordinate point of the calibration parameter, X i-1 is the horizontal coordinate of the i-1th coordinate point of the calibration parameter, V avg It is the mechanical conversion factor of EPS from torsion bar torque to rack force.

4. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: The calculation of the main circuit compensation torsion bar torque in step 4 includes the following cases: When the value of the original torsion bar torque of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main road compensation torsion bar torque value TBT ExtrapoMain Equal to the value of the original torsion bar torque TBT of the main road Main ; When the value of the original torsion bar torque of the main road is TBT Main The value TBT of the previous sampling cycle MainLast The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the main circuit compensation torsion bar torque TBT ExtrapoMain The calculation formula is as follows; Among them, TBT ExtrapoMain To compensate the torsion bar torque, TBT Main The original torsion bar torque of the main road, TBT MainLast The value of the main road original torsion bar torque in the previous sampling period, TBT DeadZone is the torsion bar torque extrapolation compensation dead zone, T Main is the main road torsion bar torque sampling time, T MainLast is the value of the previous sampling period of the main road torsion bar torque sampling time; E is the torsion bar torque extrapolation compensation coefficient.

5. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: The calculation of the auxiliary road compensation torsion bar torque in step 4 includes the following cases: When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle RedLast The absolute value of the difference is less than or equal to the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensation torsion bar torque value TBT ExtrapoRed Equal to the value of the original torsion bar torque TBT of the auxiliary road Red ; When the value of the original torsion bar torque of the auxiliary road is TBT Red The value TBT of the previous sampling cycle Red The absolute value of the difference is greater than the torsion bar torque extrapolation compensation dead zone TBT DeadZone When the auxiliary road compensates the torsion bar torque TBT ExtrapoRed The calculation formula is as follows; Of which: TBT ExtrapoRed To compensate the torsion bar torque for the auxiliary road, TBT Red is the original torsion bar torque of the auxiliary road, TBT RedLast is the value of the original torsion bar torque of the auxiliary road in the previous sampling period, TBT DeadZone is the torsion bar torque extrapolation compensation dead zone, T Red is the auxiliary road torsion bar torque sampling time, T RedLast is the value of the previous sampling period of the auxiliary road torsion bar torque sampling time, and E is the torsion bar torque extrapolation compensation coefficient.

6. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 5, the torsion bar torque TBT is compensated Extrapo The calculation results include the following cases: When the torsion bar torque signal is invalid, compensate the torsion bar torque TBT Extrapo is equal to 0; When the torsion bar force signal is valid and the torsion bar torque gradient average switch is turned on, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMain and auxiliary road compensation torsion bar torque TBT ExtrapoRed The average value of When the torsion bar force signal is valid and the torsion bar torque gradient mean switch is closed, the torsion bar torque TBT is compensated. Extrapo Equal to the main road compensation torsion bar torque TBT ExtrapoMain .

7. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 6, the torque deviation thresholds corresponding to different vehicle speeds are set. The safe vehicle speed in step 1 is used as input, and the torque deviation thresholds corresponding to the output at different vehicle speeds are obtained through linear table lookup. The specific calculation formulas for the upper boundary of the compensation torsion bar torque and the lower boundary of the compensation torsion bar torque are as follows: TBT uplim =TBT Org +TBT t h re TBT lowlim =TBT Org -TBT t h re Among them TBT uplim To compensate the upper limit of the torsion bar torque, TBT lowlim To compensate the lower limit of the torsion bar torque, TBT org The original torsion bar torque of the main road that has been effectively tested, TBT thre is the torque deviation threshold corresponding to different safe vehicle speeds.

8. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 7, the upper and lower limits of the compensation torsion bar torque are set according to the following logic: When the limit switch is closed, the upper and lower boundaries of the compensation torsion bar torque are not limited; When the limit switch is turned on, TBT uplim To compensate the upper limit of the torsion bar torque, TBT lowlim To compensate for the lower boundary of the torsion bar torque, the upper and lower boundaries of the torsion bar torque are limited.

9. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 9, the safe torsion bar torque TBT safe The calculation results include the following cases: When C flag3 =1 and the main circuit original torsion bar torque signal is valid, TBT safe =TBT Main , When C flag3 =1 and the main circuit original torsion bar torque signal is invalid, TBT safe =0, When C flag3 =0, TBT safe =TBT limit .

10. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 10, the calculation formula of the torsion bar torque gradient Grad is as follows: Grad=TBT-TBT Last Among them, TBT is the torsion bar torque of the current cycle, TBT Last is the torsion bar torque in the previous cycle.

11. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 11, the linear interpolation compensation calculation formula of the torsion bar torque gradient is as follows: Among them, Grad ExtrapoH is the linear extrapolation value of the torsion bar torque gradient, Grad is the torsion bar torque gradient, T Sample is the original torsion bar torque sampling time, T SampleLast is the sampling time of the original torsion bar torque in the previous cycle, T Task This is the task scheduling period of the function where this step is located.

12. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 12, the calculation process of the PT1 filter logic of the torsion bar torque compensation gradient is: Calculate the difference between the torsion bar torque compensation gradient and the torsion bar torque filtering gradient of the previous cycle as the compensation gradient; Calculate the product of the compensation gradient and the PT1 filter coefficient as the compensation gradient after PT1 filtering; The sum of the compensation gradient after PT1 filtering and the torsion bar torque filtering gradient of the previous cycle is the torsion bar torque filtering gradient.

13. The EPS torsion bar torque signal gradient calculation method based on linear compensation according to claim 1, characterized in that: In step 12, the calculation process of the safety torsion bar torque gradient includes the following cases: When the sensor sampling signal is invalid, the safety torsion bar torque gradient Grad is the gradient invalid value Grad SNA ; When the sensor sampling signal is valid and the torsion bar torque gradient interpolation switch is turned on, the safety torsion bar torque gradient Grad is the safety torsion bar torque filter gradient Grad Extrapo ; When the sensor sampling signal is valid, the torsion bar torque gradient interpolation switch is turned on, the average value switch is turned on, the main and auxiliary torsion bar torque signals are valid, and the torsion bar torque signal redundancy is valid, the safety torsion bar torque gradient Grad is the main torsion bar torque filter gradient Grad Main and auxiliary road torsion bar torque filter gradient Grad Red The mean of When the sensor sampling signal is valid, the torsion bar torque gradient interpolation switch is turned on, and as long as one of the preset conditions is not met, the safety torsion bar torque gradient Grad becomes the main torsion bar torque filter gradient Grad Main The preset conditions are: condition one, the switch for calculating the average value is turned on; condition two, the torsion bar torque signal of the main and auxiliary roads is valid; condition three, the torsion bar torque signal redundancy is valid.

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