The invention discloses a return control method and device, a steering system, equipment and a storage medium, and the method comprises the steps: obtaining the vehicle speed information and steering wheel angle information of a target vehicle, and determining the speed information and torque gain information of a target rack based on the vehicle speed information, the steering wheel angle information, first preset information and second preset information; determining a rack speed deviation value between the target rack speed information and the actual rack speed information, and determining a target parameter from the torque suppression parameter and the torque assistance parameter; and under the condition that the torque is input into the steering wheel, based on the target rack speed information, the torque gain information, the rack speed deviation value and the target parameters, aligning torque calculation and limiting processing are carried out, target aligning torque is obtained, and aligning control is carried out. According to the embodiment of the invention, closed-loop control can be carried out on the speed of the rack under the condition of external force intervention, the accuracy, stability and precision of return control are improved, and the return performance is ensured.
本发明公开一种回正控制方法、装置、转向系统、设备及存储介质,该方法包括获取目标车辆的车速信息及方向盘转角信息,基于车速信息、方向盘转角信息及第一预设信息、第二预设信息,分别确定目标齿条速度信息及力矩增益信息;确定目标齿条速度信息和实际齿条速度信息间的齿条速度偏差量,并从力矩抑制参数与力矩助力参数中确定目标参数;在方向盘有扭矩输入的情况下,基于目标齿条速度信息、力矩增益信息、齿条速度偏差量及目标参数进行回正力矩计算并进行限制处理,得到目标回正力矩,并进行回正控制。利用本发明公开实施例能够在有外力介入的情况下,对齿条速度进行闭环控制,提升回正控制的准确性、稳定性及精度,保证回正性能。
Return control method and device, steering system, equipment and storage medium
一种回正控制方法、装置、转向系统、设备及存储介质
14.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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