The invention provides a position closed-loop control method, device and system and a readable storage medium. The method comprises the following steps: acquiring a target displacement, an actual displacement and a target moving speed of a rack of a vehicle tire; calculating an initial driving force of the target rack according to the target displacement, the actual displacement, the target moving speed and a control rate parameter of a steering execution system; the compensation driving force of the target rack is obtained according to the target moving speed; and the resultant force of the initial driving force and the compensation driving force is obtained to serve as the target driving force of the target rack. According to the embodiment, the control performance of the vehicle in the steering starting, reversing and small-amplitude slow driving processes can be improved by providing the compensation driving force, namely feed-forward compensation, and the method can be suitable for an electric power steering system and a steer-by-wire system.

    本公开提供一种位置闭环控制方法、装置、系统和可读存储介质。该方法包括:获取车辆轮胎的齿条的目标位移、实际位移和目标移速;根据所述目标位移、所述实际位移、所述目标移速和转向执行系统的控制率参数计算所述目标齿条的初始驱动力;根据所述目标移速获取所述目标齿条的补偿驱动力;获取所述初始驱动力和所述补偿驱动力的合力,作为所述目标齿条的目标驱动力。本实施例通过提供补偿驱动力即前馈补偿可以改善车辆在转向启动、换向以及小幅度慢打过程中的控制性能,能够适用于电动助力转向系统和线控转向系统。


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    Titel :

    Position closed-loop control method, device and system and readable storage medium


    Weitere Titelangaben:

    位置闭环控制方法、装置、系统和可读存储介质


    Beteiligte:
    LIU HE (Autor:in) / LIU YAHUI (Autor:in) / JI XUEWU (Autor:in) / JING LIQUN (Autor:in) / CAI BIN (Autor:in)

    Erscheinungsdatum :

    2024-05-07


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge





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