The present invention provides a virtual friction model which accurately estimates friction torque of a steering wheel even in a stationary or low-speed driving condition. According to the present invention, provided is an electric power steering control method comprising the steps of: setting a virtual friction model in a column connected between a steering wheel and a rack gear; calculating friction torque of the column using a steering angular velocity of the steering wheel in the set virtual friction model as an input variable; and calculating target steering torque based on a virtual steering system model using the calculated friction torque of the column as a variable.
스티어링휠과 랙기어 사이에 연결된 컬럼에 가상의 마찰 모델을 설정하는 단계; 설정한 가상의 마찰 모델에 스티어링휠의 조향각속도를 입력 변수로 컬럼의 마찰토크를 산출하는 단계; 및 산출한 컬럼의 마찰토크를 변수로 이용하는 가상의 조향계 모델를 기반으로 목표 조향토크를 산출하는 단계;를 포함하는 전동식 파워 조향 제어방법이 소개된다.
STEERING CONTROL METHOD AND CONTROL SYSTEM OF MOTOR DRIVEN POWER STEERING SYSTEM
전동식 파워 조향 제어방법 및 제어시스템
2021-01-04
Patent
Elektronische Ressource
Koreanisch
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