The invention provides a zero compensation method and device of an EPS, and the method comprises the steps: obtaining a lateral distance value in each control period when a vehicle runs on an ideal path, and obtaining a lateral distance value after smoothing of each control period; calculating a longitudinal distance value of the vehicle in each control period according to the constant-speed running speed of the vehicle and the number of passed control periods; carrying out linear fitting to obtain a linear relationship between the longitudinal distance value and the smoothed transverse distance value; according to a first parameter in the linear relation and a preset steering wheel transmission ratio, calculating a zero compensation angle of the EPS, and compensating the steering controlangle; when the minimum residual error is smaller than a preset acceptable deviation, determining that the zero compensation angle of the EPS passes verification, and generating a zone bit used for identifying that verification passes; and writing the zero compensation angle of the EPS into a calibration file. Therefore, the calibration time is reduced, and the accuracy and effectiveness of the control algorithm are improved.
本发明提供了一种EPS的零点补偿方法及装置,方法包括:当车辆在理想路径上行驶时,获取每个控制周期下的横向距离值并得到每个控制周期的平滑处理后的横向距离值;根据车辆匀速行驶的速度和经过的控制周期数,计算车辆在每个控制周期的纵向距离值;线性拟合得到纵向和平滑处理后的横向距离值的线性关系;根据线性关系中的第一参数和预设的方向盘传动比,计算EPS的零点补偿角度,并对转向控制角度进行补偿;当最小残差小于预设的可接受偏差时,确定EPS的零点补偿角度通过验证并生成用于标识通过验证的标志位;将EPS的零点补偿角度写入标定文件。由此,减少了标定的时间,提高了控制算法的精确性和有效性。
Zero compensation method and device for electric power steering (EPS) system
电动助力转向系统EPS的零点补偿方法及装置
2020-08-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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