The invention relates to a compensation control method and device for steering torque. The automobile steering system comprises a steering wheel and a power assisting motor, the power assisting motor is used for providing compensation torque, and the method comprises the steps that firstly, based on a position signal of the steering wheel, the angular acceleration of the steering wheel is obtained; 2, based on the angular acceleration of the steering wheel, the target angular acceleration of the power-assisted motor is obtained; and 3, based on the target angular acceleration of the power-assisted motor, the compensation torque of the power-assisted motor is obtained. The position signal of the steering wheel is used as the input signal, the Kalman filtering formula is utilized to obtain the target angular acceleration of the power-assisted motor, the time delay between the acceleration change of the power-assisted motor and the acceleration change of the steering wheel is eliminated, the obtained target angular acceleration is low in noise and more accurate, the response speed of the power-assisted motor is higher, and the reliability of the power-assisted motor is improved. And compensation lag of the compensation torque is avoided.

    本公开涉及一种转向扭矩的补偿控制方法及控制装置。所述汽车转向系统包括方向盘和助力电机,所述助力电机用于提供补偿扭矩,其中,所述方法包括:步骤一、基于所述方向盘的位置信号,获取所述方向盘的角加速度;步骤二、基于所述方向盘的所述角加速度,获取所述助力电机的目标角加速度;步骤三、基于所述助力电机的所述目标角加速度,获取所述助力电机的所述补偿扭矩其中。以方向盘的位置信号作为输入信号,利用卡尔曼滤波公式,获得助力电机的目标角加速度,消除了助力电机的加速度变化与方向盘的加速度变化间的时间延迟,以此获得的目标角加速度噪音小且更加准确,助力电机的响应速度更快,避免补偿力矩补偿滞后。


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    Title :

    Steering torque compensation control method and control device


    Additional title:

    转向扭矩的补偿控制方法及控制装置


    Contributors:
    ZHANG LINHUI (author) / ZHANG TAOFEI (author)

    Publication date :

    2022-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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