The invention discloses a torque compensation method, a power-assisted steering system and a vehicle. The torque compensation method comprises the following steps that when a vehicle enters a linear acceleration running deviation state, the vehicle enters a feed-forward compensation stage to calculate and obtain a feed-forward compensation torque; after a feedback compensation condition is met, compensation is carried out on the basis of the final feed-forward compensation torque to obtain a feedback compensation torque, and the final feed-forward compensation torque is superposed with the feedback compensation torque to generate a compensation torque; and the compensation torque issuperposed with a power-assisted torque calculated by a torque ring of the power-assisted steering system to obtain a final power-assisted torque, and a motor of the power-assisted steering system is controlled to output the final power-assisted torque. The feed-forward compensation stage is fast in response, as long as the vehicle is in a linear acceleration deviation state, feedforward compensation torque can be immediately output in the feedforward compensation stage, and the deviation amount is reduced; in the feedback compensation stage, the hand force can be reduced to the target torque, the hand force maintained in the deviation process is reduced, and driving fatigue is reduced. The feed-forward compensation torque and the feedback compensation torque can achieve the optimal deviation correction effect.
本发明公开了一种力矩补偿方法,助力转向系统及汽车;力矩补偿方法:车辆进入直线加速行驶跑偏状态时进入前馈补偿阶段计算获得前馈补偿力矩;满足反馈补偿条件后在最终前馈补偿力矩的基础上进行补偿获得反馈补偿力矩,并将最终前馈补偿力矩叠加反馈补偿力矩后生成补偿力矩;将补偿力矩与助力转向系统的力矩环计算的助力力矩叠加,获得最终助力力矩,并控制助力转向系统的电机输出最终助力力矩。前馈补偿阶段响应快,只要车辆处于直线加速跑偏状态,前馈补偿阶段能立即输出前馈补偿力矩,降低跑偏量;反馈补偿阶段可以将手力降至目标力矩,减小跑偏过程中保持的手力,降低驾驶疲劳。前馈补偿力矩和反馈补偿力矩可以达到最佳纠正跑偏的效果。
Torque compensation method, power-assisted steering system and automobile
力矩补偿方法、助力转向系统及汽车
2021-12-03
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |