The invention discloses a control method of an automobile electric power steering system without a torque sensor. A steering system comprises an electronic control unit, a permanent magnet synchronousmotor and a vehicle speed sensor. The electronic control unit performs an adaptive Kalman filtering algorithm based on the Sage-Husa according to an established state-space equation of the steering system; a steering wheel angle and angular speed, a motor angle and angular speed, a steering pinion angle and angular speed and a motor quadrature axis current are estimated by taking a motor angle asmeasurement input, a steering wheel torque is calculated based on a formula: Tc = Kc (theta c-theta r), and a motor is controlled to generate a power-assisted torque by combining vehicle speed information. According to the method, the dependence of an estimator on initial values of observation noise and process noise can be well eliminated, and accurate estimation of the torque of the steering wheel is achieved.
本发明公开了一种无转矩传感器的汽车电动助力转向系统的控制方法,所述转向系统包括电子控制单元、永磁同步电机和车速传感器,电子控制单元根据建立的转向系统的状态空间方程,执行基于Sage‑Husa自适应卡尔曼滤波算法,以电机转角为测量输入,估计出转向盘转角和角速度、电机转角和角速度、转向小齿轮转角和角速度,以及电机交轴电流,由T=K(θ‑θ)求出转向盘转矩,并结合车速信息控制电机产生助力矩。本发明能够很好的克服估计器对观测噪声和过程噪声初始值的依赖,实现转向盘转矩的准确估计。
Control method of automobile electric power steering system without torque sensor
一种无转矩传感器的汽车电动助力转向系统的控制方法
2020-06-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Torque sensor in automobile electric power steering system
Europäisches Patentamt | 2022
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