The invention provides a neutral position self-learning method for a rear wheel steering mechanism. The neutral position self-learning method comprises the steps that S1, a motor assembly of the rear wheel steering mechanism is provided with an MPS sensor; s2, a motor drives a rack of a rear wheel steering mechanism to move leftwards to a left limit position and a right limit position, an MPS sensor records an MPS measured value of the rack moving leftwards to the left limit position, and a rack position measured value is calculated; s3, the deviation between the middle point of the rack and the initial scale when the LPS sensor is powered on is calculated; s4, correcting the actual position of the rack by using the deviation between the middle point of the rack and the initial scale when the LPS sensor is electrified, and correcting the initial scale when the LPS sensor is electrified; s5, calculating a linear error of the LPS sensor; and S6, repeating the step S5 for multiple times, and establishing a mapping relationship between the LPS measurement values of the LPS sensors when the rack moves to different positions and the linear errors of the corresponding LPS sensors. According to the invention, the accuracy of neutral position calibration of the rear wheel steering mechanism is ensured, and the error of neutral position deviation compensation is reduced.
本发明提供了一种后轮转向机构的中位自学习方法,包括:S1、后轮转向机构的电机总成配置MPS传感器;S2、电机驱动后轮转向机构的齿条左移至左极限位置和右极限位置,MPS传感器记录齿条左移至左极限位置的MPS测量值,并计算齿条位置测量值;S3、计算齿条的齿条中点与LPS传感器上电时初始刻度之间的偏差;S4、使用齿条的齿条中点与LPS传感器上电时初始刻度之间的偏差,修正齿条的实际位置,并且修正LPS传感器上电时初始刻度;S5、计算LPS传感器的线性误差;S6、重复步骤S5多次,建立齿条移动至不同位置时LPS传感器的LPS测量值,与对应LPS传感器的线性误差的映射关系。本发明保证后轮转向机构的中位标定的准确性、降低中位偏差补偿的误差。
Middle position self-learning method, middle position deviation compensation method and system of rear wheel steering mechanism
一种后轮转向机构的中位自学习方法、中位偏差补偿方法及系统
04.03.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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