The invention discloses a control method and a control device for a turning angle of a vehicle steering wheel. The method comprises the following steps: determining a target steering wheel angle; acquiring an actual steering wheel angle; determining a target steering wheel angular velocity based on the target steering wheel angle and the actual steering wheel angle; acquiring an actual steering wheel angular velocity; calculating by taking the difference between the target steering wheel angular velocity and the actual steering wheel angular velocity as the input of a PID control algorithm; providing a first feed-forward torque based on a difference between the target steering wheel angular velocity and the actual steering wheel angular velocity and the actual steering wheel angular velocity; providing a second feed-forward torque based on the target steering wheel angular velocity and the actual steering wheel angle; and calculating a target steering motor torque based on a calculation result of the PID control algorithm, the first feed-forward torque and the second feed-forward torque.
本发明公开了一种车辆方向盘转角的控制方法和控制装置。所述方法包括:确定目标方向盘角度;获取实际方向盘角度;基于目标方向盘角度和实际方向盘角度确定目标方向盘角速度;获取实际方向盘角速度;将目标方向盘角速度与实际方向盘角速度之差作为PID控制算法的输入进行计算;基于目标方向盘角速度与实际方向盘角速度之差和实际方向盘角速度提供第一前馈扭矩;基于目标方向盘角速度和实际方向盘角度提供第二前馈扭矩;和基于PID控制算法的计算结果、第一前馈扭矩和第二前馈扭矩计算目标转向电机扭矩。
Control method and control device for turning angle of vehicle steering wheel
一种车辆方向盘转角的控制方法和控制装置
2022-12-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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