The invention discloses a road feeling feedback steering-by-wire control method, device and equipment and a storage medium. The road feel feedback steer-by-wire control method comprises the following steps that the stroke of a rack and the assisting torque of the output end of a motor are determined; a discrete Kalman filtering module is constructed, and the axial resistance of the rack is determined according to the rack stroke, the assistance torque and the discrete Kalman filtering module; and looking up a table to determine the current of the motor according to the axial resistance of the rack. The method has the beneficial effects that the rack stroke and the power-assisted torque of the output end of the motor are determined; a discrete Kalman filtering module is constructed, and the axial resistance of the rack is determined according to the rack stroke, the assistance torque and the discrete Kalman filtering module; according to the axial resistance of the rack, the current of the motor is determined by looking up a table, the interference of noise to the system is suppressed or filtered, the rack force can be calculated accurately, and then more accurate control current is obtained.
本发明公开了一种路感反馈线控转向控制方法、装置、设备及存储介质。其中,路感反馈线控转向控制方法,包括以下步骤:确定齿条行程以及电机输出端的助力扭矩;构建离散卡尔曼滤波模块,根据所述齿条行程、助力扭矩和离散卡尔曼滤波模块,确定齿条轴向阻力;根据所述齿条轴向阻力,查表确定电机电流。有益效果:通过确定齿条行程以及电机输出端的助力扭矩;构建离散卡尔曼滤波模块,根据齿条行程、助力扭矩和离散卡尔曼滤波模块,确定齿条轴向阻力;根据齿条轴向阻力,查表确定电机电流,抑制或者滤掉噪声对系统的干扰,能较准确底算出齿条力,进而获得更精确的控制电流。
Road feeling feedback steering-by-wire control method, device and equipment and storage medium
路感反馈线控转向控制方法、装置、设备及存储介质
2023-07-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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