The invention provides a friction compensation method of an automobile active steering system. When the last historical value of a target angle is not equal to the current target angle value, the steering system is actively compensated, the compensation reaction speed is high, the steering system is compensated in a table look-up mode, excessive calculation is not needed, and the compensation period is short; numerical values between data in the table are calculated through an interpolation method, the calculation process is simple, and compensation range coverage is comprehensive; slow descending quitting of friction compensation is set, so that friction compensation can be smoothly quitted, and the steering stability is improved. Therefore, the automobile active steering system has the stable and accurate steering function in the functions of automatic parking, lane keeping and the like, and the problems that the overall time from actual angle tracking to final target angle trackingis long, and the real-time performance of the tracking process is poor are solved. Meanwhile, the compensation process is simplified, and the smoothness of friction compensation is improved.
本发明提供一种汽车主动转向系统的摩擦补偿方法,当目标角度上次历史值与当前目标角度值不相等时,主动对转向系统进行补偿,补偿反应速度快,通过查表的方式对转向系统进行补偿,不需要过多的计算,补偿周期短;利用插值法计算表格中数据之间的数值,计算过程简单,补偿范围覆盖全面;设置摩擦补偿缓降退出,使得摩擦补偿可以平顺退出,提升转向的稳定性。从而实现汽车主动转向系统在自动泊车、车道保持等功能中具有稳定性和准确性的转向功能,避免实际角度跟踪到最终目标角度的整体时间长,及跟踪过程实时性差的问题;同时简化补偿过程,提高摩擦补偿的平顺性。
Friction compensation method of automobile active steering system
一种汽车主动转向系统的摩擦补偿方法
2020-09-04
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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