The invention relates to the technical field of vehicle control, in particular to a steering wheel hand feeling compensation method. The steering wheel hand feeling compensation method is applied to the multi-motor-driven vehicle, a first motor of the multi-motor-driven vehicle is used for driving a left front wheel of the vehicle, a second motor of the multi-motor-driven vehicle is used for driving a right front wheel of the vehicle, and a third motor of the multi-motor-driven vehicle is used for driving a steering gear. According to the method, when the vehicle steers, the compensation torque of the third motor is determined according to the driving torque of the first motor and the driving torque of the second motor of the vehicle, the compensation mode of the third motor is determined according to the running state and the steering state of the vehicle, and the third motor is controlled according to the compensation mode and the compensation torque. Compensation is performed on the basis of the original output torque of the third motor, so that the steering wheel rotating torque caused by unequal left and right driving torques is compensated by the third motor, the phenomena of steering wheel robbing and hand dragging caused by the steering wheel rotating torque are avoided, and the steering hand feeling is ensured.

    本发明涉及车辆控制的技术领域,尤其涉及一种方向盘手感补偿方法。本发明提供的方向盘手感补偿方法,应用于多电机驱动车辆,该多电机驱动车辆的第一电机用于驱动车辆的左前轮,第二电机用于驱动车辆的右前轮,第三电机用于驱动转向器。该方法能够在车辆转向时,根据车辆的第一电机的驱动力矩及第二电机的驱动力矩确定第三电机的补偿力矩大小,并根据车辆的行驶状态和转向状态,确定第三电机的补偿方式,根据补偿方式和补偿力矩大小对第三电机进行控制,在原有第三电机输出力矩的基础上进行补偿,从而使得左右驱动力矩不等导致的方向盘转动力矩被第三电机补偿,避免了方向盘转动力矩导致的方向盘抢方向和拽手现象,保证转向手感。


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    Title :

    Steering wheel hand feeling compensation method


    Additional title:

    方向盘手感补偿方法


    Contributors:
    LIU PENG (author) / TAO WENXIU (author) / TONG YUNCHUN (author) / WANG XIN (author) / LIAO YINSHENG (author)

    Publication date :

    2023-03-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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