Steering electronic control device integrating friction damping double compensation and stabilizing system

Abstract

The invention relates to the technical field of vehicle steering system regulation and control, in particular to an integrated friction damping double-compensation steering electronic control device and stabilizing system which comprises a direction control module, a steering column, a double-compensation module, an oil supply module, a power conversion module, a steering connecting pair, a vehicle frame body, a steering transverse pulling piece and an ECU control module. The double-compensation module integrates a friction compensation unit and a damping compensation unit which are coaxially arranged, two-dimensional dynamic compensation of friction and damping in the steering process can be achieved, different driving speeds and road surface working conditions can be dynamically adapted in cooperation with a closed-loop control system with an ECU as the core, steering friction loss and damping attenuation are effectively counteracted, and the steering stability is improved. Therefore, the steering smoothness, accuracy and stability are improved, the out-of-control risk of the vehicle is reduced, the driving safety and comfort are guaranteed, and the method is suitable for steering systems of various motor vehicles.

Description

Technical Field

[0001] This invention relates to the field of vehicle steering system control technology, specifically to a steering electronic control device and stability system with integrated friction damping dual compensation. Background Technology

[0002] As a core component for controlling vehicle driving posture, the vehicle steering system's handling stability and responsiveness directly determine vehicle driving safety and experience. With the automotive industry's continuous development towards intelligence and lightweight design, the adaptability deficiencies of traditional steering systems under complex driving conditions are becoming increasingly apparent. These deficiencies manifest as steering lag, handling stiffness, low posture control precision, and significant stability variations under different conditions, severely impacting driving safety and comfort.

[0003] Currently, most existing steering systems only compensate for one dimension of friction loss or damping attenuation, failing to achieve coordinated dynamic control of both. This makes it difficult to meet the requirements for steering smoothness and attitude stability. When compensating for friction alone, a fixed preload design is often used, which has poor adaptability and cannot dynamically adjust the preload according to actual working conditions such as steering torque and contact pressure. After long-term use, the friction compensation accuracy will decrease due to component wear, leading to problems such as steering jerking and abnormal noise. When compensating for damping alone, a fixed damping coefficient design is often used, which cannot accurately match the damping attenuation requirements according to dynamic working conditions such as vehicle speed and steering angular velocity. This can easily lead to problems such as overly sensitive steering at high speeds and heavy steering at low speeds. Summary of the Invention

[0004] This invention provides a steering electronic control device and stability system with integrated friction and damping dual compensation. The overall design adopts a modular approach, dual compensation coordination, and intelligent closed-loop control. By integrating the friction compensation unit and the damping compensation unit, the coordinated regulation of the two is achieved. At the same time, it takes into account steering smoothness, stability, and adaptability to multiple working conditions. It solves the problems of traditional steering systems, such as steering jerking, abnormal noise, excessive sensitivity at high speeds, and heavy steering at low speeds, and meets the needs of dynamic control under multiple working conditions.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution: a steering electronic control device integrating dual compensation for friction damping, including a steering column; The dual compensation module is located in the middle of the steering column. It is used to detect the friction loss and damping attenuation of the steering system in real time and realize dynamic compensation of friction and damping in two dimensions during the steering process. The oil supply module is located on the side of the dual compensation module. The oil supply module is used to provide a stable hydraulic oil source and oil supply sequence for the dual compensation module, ensuring the stable execution of the compensation action of the dual compensation module. The power conversion module is installed at the lower end of the steering column and is used to convert the steering torque and steering angle of the steering column into steering driving force. The steering connection pair is located between the power conversion module and the steering tie rod, and is used to transmit steering torque and steering displacement; Steering tie rods are used to connect the steering coupling and the wheels, and convert steering torque into the steering angle of the wheels to achieve precise steering; The ECU control module receives signals from the vehicle's driving status sensors, analyzes the working status of the steering system in real time, and precisely controls the steering action of the steering control module, the compensation amount of the dual compensation module, the fuel supply parameters of the fuel supply module, and the power output of the power conversion module, thereby realizing intelligent closed-loop control of the steering system.

[0006] The present invention also provides a steering stability system with integrated friction damping dual compensation, the steering stability system including the above-mentioned steering electronic control device with integrated friction damping dual compensation, and further including a vehicle driving state sensing module and a steering feedback adjustment module, wherein: The vehicle driving status sensing module is electrically connected to the ECU control module. It is used to collect the vehicle's driving speed, steering angular velocity, body roll angle, wheel deflection angle and road adhesion coefficient signals in real time, and transmit the collected signals to the ECU control module. The steering feedback adjustment module is connected to the ECU control module, the steering control module, and the steering tie rod, respectively, and is used to receive control commands from the ECU control module. The ECU control module dynamically adjusts the friction compensation and damping compensation of the dual compensation module based on the signals transmitted by the vehicle driving status sensing module and the detection signals fed back by the through-hole torque sensor and the miniature pressure sensor in the dual compensation module. It also synchronously adjusts the opening of the electromagnetic throttle valve in the fuel supply module and corrects the steering output of the steering control module and the transmission displacement of the steering tie rod through the steering feedback adjustment module. This achieves dynamic compensation of friction and damping in two dimensions and precise control of steering posture of the steering system under different driving speeds and road conditions.

[0007] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0008] The positive and progressive effects of this invention are as follows:

[0009] 1. By integrating the friction compensation unit and the damping compensation unit, the coordinated control of the two is realized, while taking into account steering smoothness, stability and multi-condition adaptability, meeting the needs of dynamic control under multiple conditions. At the same time, a closed-loop control system with the ECU as the core is constructed, integrating vehicle driving status sensing, dual compensation module feedback, steering execution correction and other links to achieve real-time closed-loop signal acquisition, analysis and processing, control execution and feedback optimization. The control command response lag is small, and the steering posture can be quickly corrected, improving steering safety under complex road conditions and sudden conditions.

[0010] 2. The friction compensation unit is equipped with a through-hole torque sensor and a miniature pressure sensor to monitor steering torque and contact pressure in real time. It achieves precise adjustment of preload through an electric push rod and a disc spring assembly, and can adapt to component wear and changes in operating conditions. The damping compensation unit adopts a multi-position oil hole and electromagnetic throttle valve combination design, combined with a gradually changing radius damping blade, to achieve continuous and precise adjustment of the damping coefficient, adapting to different driving speeds and steering conditions. It effectively improves steering lag and sticking problems, and enhances the smoothness and accuracy of steering operation. At the same time, it corrects unstable postures such as body roll and wheel misalignment in real time, reducing the risk of vehicle loss of control under extreme conditions and ensuring driving safety and comfort. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0012] Figure 2 In this invention Figure 1 A magnified structural diagram at point A.

[0013] Figure 3 This is a schematic diagram of the three-dimensional connection structure between the steering column and the dual compensation module in this invention.

[0014] Figure 4 For the present invention Figure 3 A magnified structural diagram at point B.

[0015] Figure 5 In this invention Figure 3 A schematic diagram of the three-dimensional structure after removing the sidewalls of the shell.

[0016] Figure 6 This is a schematic diagram of the three-dimensional connection structure between the steering column, active friction disc, driven friction disc, preload adjustment mechanism and miniature pressure sensor in this invention.

[0017] Figure 7 This is a schematic diagram of the three-dimensional connection structure between the steering column and the damping compensation unit in this invention.

[0018] Figure 8 The flowchart of the bidirectional compensation closed-loop control provided by the present invention.

[0019] Figure 9 A flowchart illustrating the friction compensation process provided by this invention.

[0020] Figure 10 The damping compensation process flowchart provided by the present invention.

[0021] Explanation of reference numerals in the attached figures 1. Steering control module; 2. Steering column; 3. Dual compensation module; 31. Friction compensation unit; 311. Active friction disc; 312. Driven friction disc; 313. Pre-tightening adjustment mechanism; 3131. Spring base; 3132. Butterfly spring assembly; 3133. Adjusting pressure plate; 3134. T-sleeve; 3135. Electric push rod; 3136. Support plate; 314. Housing; 315. Through-hole torque sensor; 316. Miniature pressure sensor; 32. Damping compensation unit; 321. Damping vane; 322. Damping cylinder block; 323. Low-speed oil port; 324. Medium-speed oil port; 325. High-speed oil port; 326. Return oil port; 327. Oil pipe; 328. Electromagnetic throttle valve; 4. Fuel supply module; 5. Power conversion module; 6. Steering connection pair; 7. Chassis body; 8. Steering tie rod; 9. ECU control module. Detailed Implementation

[0022] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0023] Example 1:

[0024] See Figure 1 and Figure 8 An integrated friction damping dual-compensation steering electronic control device includes a steering control module 1, a steering column 2 fixedly mounted at the lower end of the steering control module 1, a dual-compensation module 3 disposed in the middle of the steering column 2, an oil supply module 4 disposed on the side of the dual-compensation module 3, a power conversion module 5 mounted at the lower end of the steering column 2, a steering connection pair 6 disposed between the power conversion module 5 and the steering tie rod 8, the steering connection pair 6 being connected to one side of the frame body 7, the frame body 7 being used to provide a fixed mounting reference for each component, ensuring the rigidity and stability of the overall steering system structure, a steering tie rod 8 being disposed between the steering connection pair 6 and the wheel, and an ECU control module 9 disposed on the steering tie rod 8.

[0025] Furthermore, the present invention also provides a steering stability system with integrated friction damping dual compensation, wherein the steering stability system includes the steering electronic control device with integrated friction damping dual compensation, and further includes a vehicle driving state sensing module and a steering feedback adjustment module, wherein: The vehicle driving status sensing module is electrically connected to the ECU control module 9 and is used to collect the vehicle's driving speed, steering angular velocity, body roll angle, wheel deflection angle and road adhesion coefficient signals in real time, and transmit the collected signals to the ECU control module 9. The steering feedback adjustment module is connected to the ECU control module 9, the steering control module 1, and the steering tie rod 8, respectively, and is used to receive control commands from the ECU control module 9.

[0026] In specific operation: After the vehicle starts, the vehicle driving status sensing module and the sensors of each component start synchronously, collect multi-dimensional signals in real time and transmit them to the ECU control module 9. The multi-dimensional signals include global driving signals such as vehicle speed, steering angular velocity, body roll angle, wheel deflection angle, and road adhesion coefficient. The dual compensation module 3 detects the steering torque and contact pressure of the steering column 2 in real time. All collected signals are transmitted to the ECU control module 9 in real time, thereby providing data support for subsequent analysis and control. After receiving all sensor signals, the ECU control module 9 performs multi-dimensional data fusion analysis. First, it combines the vehicle's speed and steering angular velocity to determine the current driving condition. Second, it calculates the friction loss of the steering system based on the steering torque and contact pressure signals to determine whether friction compensation is needed and the appropriate compensation level. Then, it combines the steering angular velocity and speed to analyze the damping attenuation requirements of the steering system and determine the target value for damping compensation. Finally, it integrates signals such as vehicle roll angle, wheel deflection angle, and road adhesion coefficient to determine whether the vehicle's steering posture is stable and whether the steering output needs to be corrected through the steering feedback adjustment module. Based on the above analysis results, the ECU control module 9 generates targeted control commands, including friction compensation adjustment commands, damping compensation adjustment commands, fuel supply parameter adjustment commands, and steering feedback correction commands.

[0027] Example 2:

[0028] See Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 9 The dual compensation module 3 includes a friction compensation unit 31 and a damping compensation unit 32 arranged coaxially, wherein the friction compensation unit 31 is located in the middle of the steering column 2, and the damping compensation unit 32 is located below the friction compensation unit 31.

[0029] The friction compensation unit 31 includes an active friction disc 311 fixedly mounted on the steering column 2. A driven friction disc 312 is attached to the lower end of the active friction disc 311. The driven friction disc 312 and the steering column 2 are in clearance fit. A preload adjustment mechanism 313 is coaxially arranged at the lower end of the driven friction disc 312. A housing 314 is arranged on the outside of the preload adjustment mechanism 313. The housing 314 is fixedly mounted on the steering column bracket.

[0030] A through-hole torque sensor 315 is fixedly installed on the steering column 2 above the active friction disc 311 to detect the steering torque of the steering column 2.

[0031] A miniature pressure sensor 316 is embedded on the end face of the driven friction disc 312 near the active friction disc 311 to detect the contact pressure between the active friction disc 311 and the driven friction disc 312 during steering.

[0032] The preload adjustment mechanism 313 includes a spring base 3131 disposed below and coaxially with the driven friction disc 312. The spring base 3131 has an annular structure and is clearance-fitted with the steering column 2. A butterfly spring assembly 3132 is abutted against the inner side of the lower end of the spring base 3131. An adjusting pressure plate 3133 is slidably sleeved on the lower end of the butterfly spring assembly 3132. The edge of the adjusting pressure plate 3133 is evenly provided with grooves. The grooves are slidably fitted with the housing 314, so that the adjusting pressure plate 3133 will not be radially offset. A T-shaped sleeve 3134 is fixedly connected to the lower end of the adjusting pressure plate 3133. Electric push rods 3135 are symmetrically connected on both sides of the T-shaped sleeve 3134. The electric push rods 3135 are fixedly installed on the support plate 3136. The end of the support plate 3136 is fixedly installed on the inner wall of the housing 314.

[0033] In actual operation: the dual compensation module 3, according to the instructions of the ECU control module 9, synchronously realizes the dynamic adjustment of friction compensation and damping compensation. The two work together to ensure steering smoothness and stability. When the ECU determines that friction compensation is needed, the ECU control module 9 sends a control signal to the electric push rod 3135 of the preload adjustment mechanism 313. At this time, the electric push rod 3135 starts and drives the telescopic end to retract, thereby driving the T-shaped sleeve 3134 to drive the adjusting pressure plate 3133 to move axially. The adjusting pressure plate 3133 squeezes the butterfly spring assembly 3132, and the butterfly spring assembly 3132 transmits the elastic force to the spring base 3131, which in turn pushes the driven friction plate 312 to fit tightly with the active friction plate 311. By changing the contact pressure, the friction compensation force is adjusted. When the steering torque decreases or the contact pressure is too high, the telescopic end of the electric push rod 3135 extends, thereby reducing the preload force and realizing dynamic compensation of friction loss, avoiding steering jamming or excessive friction.

[0034] Example 3:

[0035] See Figures 1 to 4 as well as Figure 7 and Figure 10 The damping compensation unit 32 includes a damping blade 321 fixedly mounted on the steering column 2 below the housing 314. The blade radius of the damping blade 321 gradually increases from the inside to the outside along the axial direction. A damping cylinder 322 is provided on the outside of the damping blade 321. The damping cylinder 322 is fixedly connected to the steering column bracket (the steering column bracket is part of the steering column system and is used for the installation and support of the steering column 2. The steering column bracket is not shown in this application).

[0036] The damping cylinder body 322 has a low-speed oil hole 323, a medium-speed oil hole 324 and a high-speed oil hole 325 sequentially opened on the upper side, and a return oil hole 326 opened on the lower side. Each oil hole is connected to the oil supply module 4 through an oil pipe 327, and an electromagnetic throttle valve 328 is provided at the connection between each oil pipe 327 and the oil hole.

[0037] The diameters of the low-speed oil hole 323, medium-speed oil hole 324, and high-speed oil hole 325 gradually decrease.

[0038] In actual operation: After the ECU determines the damping compensation level based on the driving speed and steering angular velocity, it controls the opening of the corresponding electromagnetic throttle valve 328 on the damping cylinder 322. When driving at low speed, the opening of the electromagnetic throttle valve 328 corresponding to the low-speed oil hole 323 with the largest control diameter increases, while the electromagnetic throttle valves 328 corresponding to the medium-speed oil hole 324 and the high-speed oil hole 325 are closed. At this time, the hydraulic oil flows quickly through the low-speed oil hole 323, and with the damping blades 321 whose radius increases from the inside to the outside, small damping output is achieved to avoid heavy steering at low speed. When driving at medium speed, the opening of the electromagnetic throttle valve 328 corresponding to the medium speed oil port 324 increases, the opening of the electromagnetic throttle valve 328 corresponding to the low speed oil port 323 remains unchanged, while the electromagnetic throttle valve 328 corresponding to the high speed oil port 325 is closed. At this time, the hydraulic oil flows quickly through the low speed oil port 323 and the medium speed oil port 324. With the help of the damping blades 321 whose radius increases from the inside to the outside, medium damping output is achieved to suppress small swaying during steering. When driving at high speed, the opening of the electromagnetic throttle valve 328 corresponding to the high-speed oil hole 325 with the smallest control diameter increases, while the opening of the electromagnetic throttle valves 328 corresponding to the low-speed oil hole 323 and the medium-speed oil hole 324 remains unchanged. At this time, the hydraulic oil flows rapidly through the low-speed oil hole 323, the medium-speed oil hole 324 and the high-speed oil hole 325, and the hydraulic oil flow resistance increases. With the help of the damping blades 321 whose radius increases from the inside to the outside, a large damping output is achieved to avoid over-sensitivity in high-speed steering. Finally, the hydraulic oil in the damping cylinder 322 flows back to the oil supply module 4 through the return oil hole 326 to form a hydraulic circulation. At the same time, the damping blade 321 rotates with the steering column 2, and its gradual radius structure further optimizes the damping stability under different steering angles. When the oil supply module 4 supplies oil to the dual compensation module 3 according to the instructions of the ECU control module 9, the oil supply module 4 monitors the pressure and temperature of the hydraulic oil in real time to ensure the reliability of the oil supply system. The driver inputs the steering command through the steering control module 1. The steering torque and steering angle are transmitted through the steering column 2, and then through the dual compensation module 3 and the power conversion module 5 in sequence. The power conversion module 5 converts the mechanical torque and angle into steering driving force, which is transmitted to the steering tie rod 8 through the steering coupling 6. The steering tie rod 8 converts the steering torque into the wheel steering angle to achieve vehicle steering. The steering feedback adjustment module receives correction commands from the ECU control module 9 and makes real-time corrections to the steering output of the steering control module 1 and the transmission displacement of the steering tie rod 8, ensuring that the wheel steering angle is precisely matched with the driver's command and correcting unstable postures such as body roll and wheel misalignment. Simultaneously, various sensors collect signals such as the adjusted steering torque, contact pressure, and driving status in real time and feed them back to the ECU control module 9. The ECU further optimizes the control commands based on the feedback signals, forming a closed-loop control system of "collection-analysis-control-feedback-optimization," continuously ensuring the stability and accuracy of the steering system under different driving conditions.

[0039] It should be noted that the ECU control logic's judgment criteria are as follows: when the vehicle speed sensor detects a vehicle speed <40km / h and a steering angle >15rad / s, it is judged as a low-speed steering operation; when the vehicle speed sensor detects a vehicle speed >40km / h or briefly drops to 35-40km / h, it is judged as a medium-speed steering operation; when the vehicle speed sensor detects a vehicle speed >80km / h, it is judged as a high-speed steering operation; when the steering angle >50rad / s, the ECU will forcibly open the high-speed oil port 325, instantly increasing the damping force to prevent oversteering or fishtailing and enhance vehicle stability.

[0040] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. An integrated friction-damping double-compensated steering electronic control device, characterized by, The utility model relates to a kind of integrated friction damping double-compensation steering electronic control device, including: Steering column (2); Double compensation module (3), double compensation module (3) is set in steering column (2) middle part, for real-time detection of steering system's friction loss and damping attenuation, and realize friction and damping double-dimension dynamic compensation in steering process; Oil supply module (4), oil supply module (4) is set in double compensation module (3) side, oil supply module (4) is used to provide stable hydraulic oil source and oil supply sequence for double compensation module (3), guarantee the stable execution of double compensation module (3) compensation action; Power conversion module (5), power conversion module (5) is installed in the lower end of steering column (2), for the steering torque and steering angle of steering column (2) are converted into steering driving force; Steering connecting pair (6) is set between power conversion module (5) and steering cross pull piece (8), for transmitting steering torque and steering displacement; Steering cross pull piece (8) is used to connect steering connecting pair (6) and wheel, and the steering torque is converted into the steering angle of wheel, to realize accurate steering; ECU control module (9) is used to receive the signal of vehicle running state sensor, real-time analysis of the working state of steering system, accurately control the steering action of direction control module (1), the compensation amount of double compensation module (3), the oil supply parameter of oil supply module (4) and the power output of power conversion module (5), to realize the intelligent closed-loop control of steering system.

2. The integrated friction damping double-compensation steering electronic control device of claim 1, wherein: The double compensation module (3) includes a friction compensation unit (31) and a coaxially arranged damping compensation unit (32), wherein the friction compensation unit (31) is arranged in the middle part of the steering column (2), and the damping compensation unit (32) is arranged below the friction compensation unit (31).

3. The integrated friction-damped double-compensated steering electronic control device according to claim 2, characterized in that: The friction compensation unit (31) includes a driving friction disc (311) fixedly installed on the steering column (2), a driven friction disc (312) attached to the lower end of the driving friction disc (311), and a pre-tightening adjustment mechanism (313) coaxially arranged at the lower end of the driven friction disc (312).

4. The integrated friction-damped double-compensated steering electronic control device according to claim 3, characterized in that: A through-hole torque sensor (315) is fixedly installed on the steering column (2) above the driving friction disc (311) to detect the steering torque of the steering column (2).

5. The integrated friction-damped double-compensated steering electronic control device according to claim 3, characterized in that: The pre-tightening adjustment mechanism (313) includes a spring base (3131) arranged below the driven friction disc (312) and coaxially arranged with the driven friction disc (312), a butterfly spring set (3132) abutting the inner side of the lower end of the spring base (3131), and an adjustment pressure disc (3133) slidingly sleeved at the lower end of the butterfly spring set (3132).

6. The integrated friction-damped double-compensated steering electronic control device according to claim 5, characterized in that: The adjustment pressure disc (3133) is uniformly provided with grooves at the edge, the grooves are slidingly matched with a housing (314), a T-shaped sleeve (3134) is fixedly connected to the lower end of the adjustment pressure disc (3133), electric push rods (3135) are symmetrically connected to the two sides of the T-shaped sleeve (3134), the electric push rods (3135) are fixedly installed on a support plate (3136), and the support plate (3136) is fixedly installed on the inner side wall of the housing (314).

7. The integrated friction-damped double-compensated steering electronic control device according to claim 2, wherein: The damping compensation unit (32) comprises a damping vane (321) fixedly arranged on the steering column (2) below the shell (314), and a damping cylinder (322) is arranged outside the damping vane (321).

8. The integrated friction-damped double-compensated steering electronic control device according to claim 7, characterized in that: The vane radius of the damping vane (321) gradually increases from inside to outside along the axial direction.

9. The integrated friction-damped double-compensated steering electronic control device according to claim 8, characterized in that: The damping cylinder (322) is sequentially provided with a low-speed oil hole (323), a medium-speed oil hole (324) and a high-speed oil hole (325) on the upper end side, and is provided with an oil return hole (326) on the lower end side; the low-speed oil hole (323), the medium-speed oil hole (324), the high-speed oil hole (325) and the oil return hole (326) are connected in communication with the oil supply module (4) through oil pipes (327), and each oil pipe (327) and the oil hole are provided with an electromagnetic throttle valve (328) at the connection position.

10. An integrated friction-damped roll stability system characterized by: The steering stability system comprises the integrated friction-damping double-compensation electronic control device of claim 1-9, and further comprises a vehicle driving state sensing module and a steering feedback adjustment module, wherein: The vehicle driving state sensing module is electrically connected with the ECU control module (9) and is used for collecting the driving speed, the steering angular velocity, the body roll angle, the wheel deflection angle and the road adhesion coefficient signals of the vehicle in real time, and transmitting the collected signals to the ECU control module (9); The steering feedback adjustment module is connected with the ECU control module (9), the direction control module (1) and the steering cross member (8) respectively and is used for receiving the control instruction of the ECU control module (9); The ECU control module (9) dynamically controls the friction compensation amount and the damping compensation amount of the double-compensation module (3) according to the signals transmitted by the vehicle driving state sensing module and the detection signals fed back by the through-hole torque sensor (315) and the micro pressure sensor (316) in the double-compensation module (3), synchronously adjusts the opening degree of the electromagnetic throttle valve (328) in the oil supply module (4), and corrects the steering output of the direction control module (1) and the transmission displacement of the steering cross member (8) through the steering feedback adjustment module, so as to realize the friction-damping double-dimensional dynamic compensation of the steering system and the precise control of the steering posture of the vehicle under different driving speeds and different road conditions.

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