Steering actuator steering synchronization method and device and electronic equipment
By acquiring the current and target angles of the steering actuator, calculating the error, and adjusting the speed, the synchronization and real-time issues of the steering actuator are resolved, thus achieving stability and reliability in the steering process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-09
- Publication Date
- 2026-04-14
Smart Images
Figure CN121849339A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of steering technology, and more specifically, to a steering actuator steering synchronization method, apparatus, and electronic device. Background Technology
[0002] In steering control systems of ships, vehicles, or other mobile platforms, steering actuators are typically used to drive rudder surfaces or steering mechanisms to control the direction of travel. To ensure timely and consistent control response, good synchronization is often required between multiple steering actuators or between the actuator and the control command. In practical applications, due to factors such as mechanical transmission backlash, load fluctuations, power supply voltage variations, and environmental interference, the actual steering angle of the steering actuator often struggles to quickly and accurately track the target command.
[0003] In related technologies, it is difficult to complete the synchronization process within a reasonable time while ensuring real-time steering response. Summary of the Invention
[0004] The problem solved by this invention is how to make the steering process have good synchronization and real-time performance.
[0005] To address the aforementioned problems, this invention provides a steering actuator steering synchronization method, apparatus, and electronic device.
[0006] In a first aspect, the present invention provides a steering actuator steering synchronization method, comprising: In response to the synchronization trigger signal, the current steering angle and target steering angle of the steering actuator are obtained; The angle error is obtained based on the current steering angle and the target steering angle; When the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs, the steering speed of the steering actuator is adjusted according to the angle error using a first adjustment strategy. The steering actuator is controlled to steer according to the steering speed, and the process returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
[0007] Optionally, after obtaining the angle error based on the current steering angle and the target steering angle, the method further includes: When the angle error is less than the error threshold, determine whether the case where the angle error of the steering actuator is less than the error threshold is greater than a first preset time. When the duration is greater than or equal to the first preset duration, it is determined that the steering actuator is experiencing a continuous timeout. When the time is less than the first preset duration, the current steering angle of the steering actuator is reacquired and the angle error is calculated.
[0008] Optionally, adjusting the steering speed of the steering actuator through the first adjustment strategy includes: When the angle error is greater than or equal to the first error, the steering actuator is controlled to accelerate. When the angle error is greater than or equal to the second error and less than the first error, the steering actuator is controlled in a constant speed range. When the angle error is less than the second error, the steering actuator is controlled to decelerate.
[0009] Optionally, adjusting the steering speed of the steering actuator through the first adjustment strategy includes: The target speed is determined based on the aforementioned angular error; When the speed error between the target speed and the current speed of the steering actuator is greater than a preset speed threshold, the steering speed is adjusted stepwise based on a preset speed step and a preset time step.
[0010] Optionally, the stepwise adjustment of the steering speed based on a preset speed step and a preset time step includes: The temporary target speed is determined based on the preset speed step size and the current speed; After smoothly switching the current speed to the temporary target speed, the preset time step is maintained, and the temporary target speed is updated until the target speed is reached.
[0011] Optionally, the steering actuator steering synchronization method further includes: The steering speed of the steering actuator is smoothly adjusted by proportional-integral control.
[0012] Optionally, the steering actuator steering synchronization method further includes: When the stall condition is met, it is determined that a stall has occurred, wherein the stall condition includes the encoder position remaining unchanged for a second preset time period and / or the current exceeding a preset threshold. Control the steering actuator to rotate a preset angle in the direction opposite to the jamming direction.
[0013] Optionally, after controlling the steering actuator to rotate a preset angle in the direction opposite to the jamming direction, the method further includes: When the engine is still stuck, increase the control current and decrease the control speed to re-control the steering actuator to rotate in the opposite direction to the stuck direction until the number of retries reaches the preset number, triggering the safety protection.
[0014] In a second aspect, the present invention provides a steering actuator steering synchronization device, applied to a steering actuator, comprising: The acquisition module is used to acquire the current steering angle and target steering angle of the steering actuator in response to the synchronization trigger signal; The error calculation module is used to obtain the angle error based on the current steering angle and the target steering angle; An adjustment module is used to adjust the steering speed of the steering actuator according to the angle error and through a first adjustment strategy when the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs. The synchronization module is terminated, which controls the steering actuator to steer according to the steering speed, and returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
[0015] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the steering actuator steering synchronization method as described in the first aspect when executing the computer program.
[0016] The beneficial effects of the steering actuator steering synchronization method of the present invention are: Synchronous trigger signals provide a unified time reference for steering actions, avoiding judgment errors caused by asynchronous readings. Angle errors, quantified, reflect the deviation between the current and target positions, preventing blind driving, reducing ineffective motion, and shortening response delays. The introduction of a dual trigger condition—an error threshold and a sustained timeout—allows for rapid response to deviations and identification of small but persistent drift states. Combined with the first adjustment strategy, overshoot and jitter are effectively suppressed, while avoiding overlooking slowly developing abnormal offsets, ensuring both speed and stability in the adjustment process. An angle threshold serves as the boundary for determining synchronization completion, defining a clear convergence endpoint to prevent repeated oscillations near the target, thus serving as a clear termination condition. This limits the adjustment duration, resulting in excellent synchronization and real-time performance in the steering process. Attached Figure Description
[0017] Figure 1 This is a flowchart illustrating the steering synchronization method of the steering actuator according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the steering synchronization method of the steering actuator according to an embodiment of the present invention after step S200. Figure 3 This is a flowchart illustrating the steering synchronization method of the steering actuator according to an embodiment of the present invention after step S200. Figure 4 This is a structural example diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation
[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.
[0019] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.
[0020] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.
[0021] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0022] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.
[0023] like Figure 1 As shown, an embodiment of the present invention provides a steering actuator steering synchronization method, comprising: Step S100: In response to the synchronization trigger signal, the current steering angle and target steering angle of the steering actuator are obtained.
[0024] The steering actuator structure involved in the technical solution of this invention includes a general-purpose stepper motor, a lead screw coupled to the motor's output shaft, a nut cooperating with the lead screw, and an output push rod fixedly connected to the nut. During operation, the stepper motor drives the lead screw to rotate, and the lead screw nut converts the rotational motion into linear motion, thereby driving the push rod to extend or retract, achieving push-pull control of the rudder or steering mechanism. Position feedback is provided by a linear displacement sensor or a high-precision angle sensor externally mounted on the push rod or rudder, forming a closed-loop control.
[0025] The synchronization trigger signal represents an external or internal event signal used to initiate a steering synchronization operation. This signal can originate from a control device's action command, a timer interrupt, a synchronization frame on the communication bus, or other control requirements that align the actuator with a reference state. The synchronization trigger signal is used to standardize the start time of steering adjustments, enabling the steering actuator to respond to target changes within a defined time window and avoiding response deviations caused by asynchronous sampling or delayed judgment.
[0026] The current steering angle represents the actual physical angular position of the steering actuator output at the moment the synchronization trigger signal is generated. It is acquired through an external sensor mounted on the pushrod or rudder, such as the angle value mapped from a linear displacement sensor via mechanical conversion, or the output value of a high-resolution angle sensor that directly measures the rudder's rotation angle. The current steering angle reflects the true motion state of the steering actuator. Its function is to enable the control logic to sense the actual deviation between the actuator and the target, thereby determining whether adjustments are needed and the magnitude of those adjustments.
[0027] The target steering angle represents the commanded angle value that the steering actuator is expected to reach at the moment of synchronization triggering. The target steering angle serves as a reference point and, together with the current steering angle, forms the basis for calculating the angle error. It is used to define the endpoint of this synchronization operation, giving the steering actuator's movement a clear direction and purpose.
[0028] By responding to the synchronous trigger signal and simultaneously acquiring the current steering angle and the target steering angle, the judgment error caused by time-sharing sampling or data asynchrony can be effectively eliminated, thereby improving the consistency and reliability of steering response.
[0029] Step S200: Obtain the angle error based on the current steering angle and the target steering angle.
[0030] Angle error represents the difference between the target steering angle and the current steering angle, indicating the degree to which the steering actuator's current position deviates from the commanded position. This error can be a signed numerical value, with its absolute value reflecting the magnitude of the deviation and the sign indicating the direction of deviation (left or right).
[0031] By analyzing the angle error, it can be determined whether the steering actuator is within the allowable deviation range, whether an adjustment action needs to be initiated, and the speed and magnitude of the adjustment. Compared to relying solely on target commands or single information about the current position, introducing angle error enables a relative assessment of the motion state, making the control logic adaptive.
[0032] Step S300: When the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs, the steering speed of the steering actuator is adjusted according to the angle error using a first adjustment strategy.
[0033] The error threshold represents a preset limit for angular deviation, used to determine whether active adjustment is needed. When the absolute value of the angular error reaches or exceeds the error threshold, it indicates that the deviation between the current steering position and the target position has exceeded the acceptable range, requiring intervention by changing the steering speed. The setting of the error threshold comprehensively considers mechanical structural characteristics, handling response requirements, and environmental interference levels. Its function is to distinguish between normal fluctuations and effective deviations, avoid frequent responses to minor disturbances, and ensure timely reactions to significant offsets.
[0034] A sustained timeout indicates that the angle error, although not reaching the error threshold, persists for an extended period. This is used to address situations such as slow drift, accumulated backlash, or weak resistance jamming. In these cases, although the deviation is small, prolonged non-convergence may affect subsequent operations or lead to control failure. Introducing a timeout judgment allows the control logic to consider not only the magnitude of the deviation but also its duration, thereby enhancing its adaptability to atypical operating conditions.
[0035] The first adjustment strategy refers to a control method that dynamically adjusts the operating speed of the steering actuator based on the magnitude and direction of the angle error. The purpose of the first adjustment strategy is to give the steering action a phased characteristic: rapid approximation when there is a large error, and smooth convergence when there is a small error, taking into account both response speed and smoothness of movement.
[0036] Step S400: Control the steering actuator to steer according to the steering speed, return to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, and end the synchronization.
[0037] The re-determining of the adjusted angle error means that after the steering actuator completes a speed adjustment action, the current steering angle is acquired again and compared with the target steering angle to obtain an updated angle deviation value. This process is not used to start a new control cycle, but rather serves as a basis for judging whether the synchronous operation has achieved the expected goal.
[0038] The angle threshold represents the upper limit of the allowable deviation used to determine the completion of synchronization, i.e., the "dead zone." Its value is smaller than the aforementioned error threshold used to trigger adjustments, forming a narrower convergence interval. When the adjusted angle error is less than the angle threshold, it indicates that the steering actuator has entered the acceptable neighborhood of the target position. The purpose of the angle threshold is to define the termination condition of the synchronization operation, avoiding repeated fine-tuning or oscillation caused by pursuing excessively small deviations.
[0039] Optionally, such as Figure 2 As shown, after obtaining the angle error based on the current steering angle and the target steering angle, the method further includes: Step S310: When the angle error is less than the error threshold, determine whether the case where the angle error of the steering actuator is less than the error threshold is greater than a first preset time.
[0040] Step S311: When the duration is greater than or equal to the first preset duration, it is determined that the steering actuator has the continuous timeout situation.
[0041] Step S312: When the time is less than the first preset time, reacquire the current steering angle of the steering actuator and calculate the angle error.
[0042] The error threshold is a preset angular deviation limit, used to define whether the deviation between the current position and the target position of the steering actuator exceeds the limit. When the angular error is less than this threshold, it indicates that the current state is in the vicinity of the target, but it cannot be directly determined that synchronization has been completed. The duration of this state needs to be further determined.
[0043] The first preset duration is a set time parameter used to measure whether the angle error is stable enough for the duration within the error threshold. If the duration of this state reaches or exceeds the first preset duration, it is determined that there is a continuous timeout. The continuous timeout here does not refer to response delay, but rather to the inability to enter a narrower convergence interval for a long time under small deviation conditions, which may reflect non-ideal operating conditions such as mechanical jamming, abnormal load, or weak control.
[0044] If the duration of the stated state does not reach the first preset duration, the operation of re-acquiring the current steering angle and calculating the angle error is performed to continuously monitor the trend of deviation change. This processing method avoids misjudging a stable state due to instantaneous noise or brief fluctuations.
[0045] By introducing a time dimension to identify the stability of small error states, potential control anomalies can still be identified even when the deviation is insufficient to trigger active adjustments, and continuous monitoring of the steering state can be maintained, thus supporting the integrity and robustness of the synchronization process.
[0046] Optionally, such as Figure 3As shown, adjusting the steering speed of the steering actuator through the first adjustment strategy includes: Step S301: When the angle error is greater than or equal to the first error, the steering actuator is controlled to accelerate.
[0047] Step S302: When the angle error is greater than or equal to the second error and less than the first error, the steering actuator is controlled in a constant speed range.
[0048] Step S303: When the angle error is less than the second error, deceleration control is applied to the steering actuator.
[0049] The first adjustment strategy divides the speed control of the steering actuator into three stages: acceleration, constant speed, and deceleration, based on the magnitude of the angle error. By setting two error boundaries—a first error and a second error—the steering process is adjusted in segments.
[0050] The first error is a relatively large angular deviation threshold used to define the range requiring a rapid response. When the angular error is greater than or equal to the first error, acceleration control is executed, causing the steering actuator to approach the target position with higher acceleration, thus shortening the response time under large deviations.
[0051] The second error is a threshold value for intermediate deviations less than the first error, used to define the medium deviation region. When the angular error is between the second and first errors, uniform speed control is implemented to maintain a stable speed, avoid mechanical shocks caused by sudden acceleration changes, and maintain a reasonable approach rate.
[0052] When the angle error is less than the second error, it indicates that the steering actuator is close to the target position. At this time, deceleration control is executed to gradually reduce the steering speed in order to reduce the kinetic energy when the position is reached and prevent overshoot or oscillation.
[0053] The above three steps constitute a continuous speed adjustment logic, enabling the steering actuator to adopt adaptive motion characteristics in different deviation ranges, taking into account both response speed and smoothness of action.
[0054] Optionally, adjusting the steering speed of the steering actuator through the first adjustment strategy includes: The target speed is determined based on the angular error.
[0055] When the speed error between the target speed and the current speed of the steering actuator is greater than a preset speed threshold, the steering speed is adjusted stepwise based on a preset speed step and a preset time step.
[0056] The target speed represents the desired operating speed determined based on the current angular error. Its magnitude decreases as the angular error decreases. It is used to guide the steering actuator to smoothly approach the target position. A mapping relationship between the target speed and the angular error is established in advance. During synchronization, the target speed is determined based on the mapping relationship and the current angular error. The target speed serves as a reference for speed adjustment, enabling the motion process to have dynamic characteristics that match the position deviation.
[0057] The current speed represents the real-time speed value of the steering actuator during the adjustment process, reflecting the actual motion state. The speed error represents the difference between the target speed and the current speed, used to determine whether the steering speed needs to be updated.
[0058] The preset speed threshold is the boundary for determining whether speed adjustment is needed. When the speed error exceeds this threshold, it indicates a significant deviation between the current speed and the target speed, requiring speed adjustment to be initiated.
[0059] The preset speed step size and preset time step size together define the rhythm of the step-like adjustment. Speed adjustment is not a one-step process, but rather a gradual change within each preset time step, using the preset speed step size as an increment. This results in a progressively approaching speed transition. By breaking down large changes into small steps and stabilizing after each step, the impact of speed changes on the mechanical system is greatly reduced, avoiding mechanical shocks or sudden current surges caused by abrupt speed changes, thus improving motion smoothness and drive stability.
[0060] By introducing target speed mapping, speed error judgment, and step-by-step adjustment mechanisms, the change in steering speed becomes gradual and controllable, which helps to maintain the smoothness and reliability of actuator operation while achieving rapid response.
[0061] Optionally, the stepwise adjustment of the steering speed based on a preset speed step and a preset time step includes: The temporary target speed is determined based on the preset speed step size and the current speed.
[0062] After smoothly switching the current speed to the temporary target speed, the preset time step is maintained, and the temporary target speed is updated until the target speed is reached.
[0063] The preset speed step size indicates the maximum allowable change in speed for a single adjustment, used to limit the magnitude of speed updates. The current speed represents the real-time operating speed of the steering actuator during the speed adjustment process.
[0064] The temporary target speed is determined by the current speed and the preset speed step size. Its value, in the direction towards the final target speed, increases or decreases by no more than one preset speed step size at a time. This temporary target speed serves as an intermediate transition point, breaking down the speed adjustment process into multiple small step stages. For example, temporary target speed = current speed ± preset speed step size.
[0065] Smoothly switching from the current speed to a temporary target speed means gradually bringing the actuator speed to the temporary target value through continuous or segmented changes in the drive signal without causing a step jump. After the switch is complete, the speed is maintained for a preset time step to provide a stable operating window and observe the dynamic response.
[0066] Based on the new current speed, the next temporary target speed is determined again, and the above process is repeated until the temporary target speed matches the final target speed. By introducing a temporary target speed and time holding, large-scale speed changes are transformed into a series of controlled small adjustments, effectively suppressing the mechanical stress and current shock caused by sudden acceleration changes, and improving the smoothness and controllability of the steering process.
[0067] Optionally, the steering actuator steering synchronization method further includes: The steering speed of the steering actuator is smoothly adjusted by proportional-integral control.
[0068] Proportional-integral (PI) control uses a combination of proportional and integral terms to generate the control input for the steering actuator. The proportional term provides an immediate response component based on the magnitude of the current speed error, making the adjustment proportional to the degree of deviation. The integral term compensates for the accumulation of speed error over time, eliminating long-term steady-state deviations. Adjusting steering speed through PPI control allows for continuous and gradual speed changes. It maintains speed tracking stability and reduces oscillations and lag even under conditions of load disturbances, friction changes, or power fluctuations.
[0069] Optionally, the steering actuator steering synchronization method further includes: When the stall condition is met, it is determined that a stall has occurred. The stall condition includes the encoder position remaining unchanged for a second preset time period and / or the current exceeding a preset threshold.
[0070] Control the steering actuator to rotate a preset angle in the direction opposite to the jamming direction.
[0071] The stall condition indicates that the steering actuator cannot operate normally due to mechanical jamming, excessive external resistance, or transmission failure. Stall conditions include: the encoder position not changing within a second preset time period, reflecting no effective displacement at the actuator output; and the drive current exceeding a preset threshold, indicating that the motor output torque has reached its limit but still cannot overcome the resistance. These two criteria can be used individually or in combination to improve the reliability of stall detection.
[0072] The preset angle is a small, predetermined rotation amount, sufficient to release local mechanical stress or disengage minor engagement, but not enough to cause significant positional deviation or safety risks. When a stall is detected, the steering actuator is rotated by this preset angle in the opposite direction of the stall, aiming to loosen the stall point through reverse micro-motion and restore motion freedom. Stall criteria are established using observable physical quantities such as position stillness duration and current exceeding limits. The introduction of reverse micro-rotation as a preliminary recovery measure provides the actuator with autonomous extrication capabilities without manual intervention, contributing to improved operational continuity and fault tolerance.
[0073] Optionally, after controlling the steering actuator to rotate a preset angle in the direction opposite to the jamming direction, the method further includes: When the engine is still stuck, increase the control current and decrease the control speed to re-control the steering actuator to rotate in the opposite direction to the stuck direction until the number of retries reaches the preset number, triggering the safety protection.
[0074] If the stall condition is still met after completing the reverse micro-rotation, it indicates that the jam has not been resolved. At this point, the control current is increased to a level higher than the normal operating limit to output greater torque in an attempt to overcome the resistance; the control speed is reduced to make the movement process smoother, reduce impact, and improve the controllability of the escape process.
[0075] The retry count is a counter value recording the number of stall recovery attempts, with the preset count representing the maximum number of attempts. Each time the actuator is restarted to reverse rotation, this count is recorded. When the preset number of retry attempts is reached, the automatic recovery measure is determined to have failed, and the safety protection mechanism is triggered, stopping the drive output and entering a fault lockout state.
[0076] When the number of retries reaches the preset limit, the steering actuator enters a safety protection state. At this time, the motor power is immediately cut off or electrically locked to terminate the current output and prevent overheating and damage to the motor windings or drive circuit caused by continuous high current.
[0077] Meanwhile, the actuator will record current fault-related information, including fault code, current value at trigger, angle position, number of retries executed and timestamp, and report it through communication interface or status indication, providing traceable diagnostic basis for subsequent maintenance.
[0078] Once the actuator enters the fault-locked state, it will no longer respond to any new motion commands or synchronous trigger signals, preventing repeated attempts to perform actions without eliminating mechanical jamming or external obstacles, thereby avoiding the expansion of the fault range or causing secondary damage.
[0079] The recovery operation must be performed by maintenance personnel. Only after manual confirmation that the mechanical structure is free of abnormalities, foreign objects have been removed, or necessary repairs have been completed, and the fault lock has been released through a dedicated reset operation, can the actuator exit the protection state and re-enter normal operating mode. This mechanism ensures the safety and maintainability of the equipment under severe abnormalities.
[0080] This invention provides a steering actuator synchronization device, applied to a steering actuator, comprising: The acquisition module is used to acquire the current steering angle and target steering angle of the steering actuator in response to the synchronization trigger signal.
[0081] The error calculation module is used to obtain the angle error based on the current steering angle and the target steering angle.
[0082] The adjustment module is used to adjust the steering speed of the steering actuator according to the angle error and through a first adjustment strategy when the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs.
[0083] The synchronization module is terminated, which controls the steering actuator to steer according to the steering speed, and returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
[0084] like Figure 4 As shown, an electronic device 400 provided in this embodiment of the invention includes a memory 410 and a processor 420; the memory 410 is used to store a computer program; the processor 420 is used to implement the steering actuator steering synchronization method as described above when the computer program is executed.
[0085] Alternatively, an electronic device 400 includes a memory 410 and a processor 420 coupled to the memory 410; the memory 410 is configured to store a computer program; and the processor 420 is configured to perform the following operations when the computer program is executed: In response to the synchronization trigger signal, the current steering angle and target steering angle of the steering actuator are obtained.
[0086] The angle error is obtained based on the current steering angle and the target steering angle.
[0087] When the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs, the steering speed of the steering actuator is adjusted according to the angle error using a first adjustment strategy.
[0088] The steering actuator is controlled to steer according to the steering speed, and the process returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
[0089] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steering actuator steering synchronization method described above.
[0090] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: In response to the synchronization trigger signal, the current steering angle and target steering angle of the steering actuator are obtained.
[0091] The angle error is obtained based on the current steering angle and the target steering angle.
[0092] When the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs, the steering speed of the steering actuator is adjusted according to the angle error using a first adjustment strategy.
[0093] The steering actuator is controlled to steer according to the steering speed, and the process returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
[0094] The present invention will now be described an electronic device 400 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 400 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 400 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.
[0095] Electronic device 400 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.
[0096] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this invention, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this invention according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.
[0097] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.
Claims
1. A steering actuator steering synchronization method, characterized in that, Applied to steering actuators, including: In response to the synchronization trigger signal, the current steering angle and target steering angle of the steering actuator are obtained; The angle error is obtained based on the current steering angle and the target steering angle; When the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs, the steering speed of the steering actuator is adjusted according to the angle error using a first adjustment strategy. The steering actuator is controlled to steer according to the steering speed, and the process returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
2. The steering actuator steering synchronization method according to claim 1, characterized in that, After obtaining the angle error based on the current steering angle and the target steering angle, the method further includes: When the angle error is less than the error threshold, determine whether the case where the angle error of the steering actuator is less than the error threshold is greater than a first preset time. When the duration is greater than or equal to the first preset duration, it is determined that the steering actuator is experiencing a continuous timeout. When the time is less than the first preset duration, the current steering angle of the steering actuator is reacquired and the angle error is calculated.
3. The steering actuator steering synchronization method according to claim 1, characterized in that, The adjustment of the steering speed of the steering actuator through the first adjustment strategy includes: When the angle error is greater than or equal to the first error, the steering actuator is controlled to accelerate. When the angle error is greater than or equal to the second error and less than the first error, the steering actuator is controlled in a constant speed range. When the angle error is less than the second error, the steering actuator is controlled to decelerate.
4. The steering actuator steering synchronization method according to claim 1, characterized in that, The adjustment of the steering speed of the steering actuator through the first adjustment strategy includes: The target speed is determined based on the angle error. When the speed error between the target speed and the current speed of the steering actuator is greater than a preset speed threshold, the steering speed is adjusted stepwise based on a preset speed step and a preset time step.
5. The steering actuator steering synchronization method according to claim 4, characterized in that, The stepwise adjustment of the steering speed based on a preset speed step and a preset time step includes: The temporary target speed is determined based on the preset speed step size and the current speed; After smoothly switching the current speed to the temporary target speed, the preset time step is maintained, the temporary target speed is updated, and the process returns to the step of determining the temporary target speed based on the preset speed step and the current speed, until the target speed is reached.
6. The steering actuator steering synchronization method according to claim 1, characterized in that, Also includes: The steering speed of the steering actuator is smoothly adjusted by proportional-integral control.
7. The steering actuator steering synchronization method according to claim 1, characterized in that, Also includes: When the steering actuator meets the stall condition, it is determined that a stall has occurred, wherein the stall condition includes the encoder position remaining unchanged for a second preset time period and / or the current exceeding a preset threshold. Control the steering actuator to rotate a preset angle in the direction opposite to the jamming direction.
8. The steering actuator steering synchronization method according to claim 7, characterized in that, After controlling the steering actuator to rotate a preset angle in the direction opposite to the jamming direction, the method further includes: When the steering actuator is still in a stalled state, the control current is increased and the control speed is reduced to control the steering actuator to rotate in the opposite direction to the stalled direction, until the number of retries reaches the preset number and the safety protection is triggered.
9. A steering actuator steering synchronization device, characterized in that, Applied to steering actuators, including: The acquisition module is used to acquire the current steering angle and target steering angle of the steering actuator in response to the synchronization trigger signal; The error calculation module is used to obtain the angle error based on the current steering angle and the target steering angle; An adjustment module is used to adjust the steering speed of the steering actuator according to the angle error and through a first adjustment strategy when the angle error is greater than or equal to the error threshold, or when a continuous timeout occurs. The synchronization module is terminated, which controls the steering actuator to steer according to the steering speed, and returns to the step of obtaining the angle error based on the current steering angle and the target steering angle, until the angle error is less than the angle threshold, at which point the synchronization ends.
10. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the steering actuator steering synchronization method as described in any one of claims 1-8 when executing the computer program.