The invention relates to a friction compensation method of an electric power steering system. The friction compensation method comprises the following steps of collecting a steering wheel torque signal, a vehicle speed signal and a motor corner signal, and calculating a motor rotating speed signal according to the motor corner signal; obtaining a static friction compensation torque in a check modeaccording to the steering wheel torque signal and the motor corner signal; obtaining a dynamic friction compensation torque in the check mode according to the vehicle speed signal and the motor rotating speed signal; switching to the calculation of the dynamic friction compensation torque when the static friction compensation torque is calculated and the change rates of both the steering wheel torque signal and the motor corner signal are greater than respective first thresholds; switching to the calculation of the static friction compensation torque when the dynamic friction compensation torque is calculated and both the vehicle speed signal and the motor rotating speed signal are smaller than respective second thresholds; and adding the static friction compensation torque to the dynamicfriction compensation torque so as to obtain a friction compensation torque. According to the friction compensation method, torque fluctuation caused by friction force change can be effectively inhibited.

    本发明涉及一种电动助力转向系统的摩擦补偿方法,包括以下步骤:采集方向盘转矩信号、车速信号和电机转角信号,并根据电机转角信号计算电机转速信号;根据方向盘转矩信号和电机转角信号利用查表的方式得到静摩擦补偿力矩;根据车速信号和电机转速信号利用查表的方式得到动摩擦补偿力矩;在计算静摩擦补偿力矩时,当方向盘转矩信号和电机转角信号的变化率均大于各自的第一阈值时,则切换为动摩擦补偿力矩计算;在计算动摩擦补偿力矩时,当车速信号和电机转速信号均小于各自的第二阈值时,则切换为静摩擦补偿力矩计算;将静摩擦补偿力矩和动摩擦补偿力矩相加得到摩擦补偿力矩。本发明能有效地抑制摩擦力变化导致的扭矩波动。


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    Title :

    Friction compensation method of electric power steering system


    Additional title:

    一种电动助力转向系统的摩擦补偿方法


    Contributors:
    MENG HU (author) / JIANG KAIHONG (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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