The invention provides a steering gear and a steering gear control method and device. The steering gear comprises a motor and a torque output end, driving current input into the motor at any moment is not larger than the upper limit of the driving current at the moment, and the torque output end is used for outputting assisting torque positively correlated with the driving current so as to drive wheels of a vehicle to steer. The method comprises the steps that under the conditions that the rotation angle of a steering wheel of the vehicle is not smaller than a limiting angle and the steering wheel rotates in the direction of increasing the rotation angle, the hand torque for driving the steering wheel to rotate is determined; if the hand torque at any moment is greater than the hand torque threshold value, setting the limiting reference current value as a driving current upper limit; if the hand torque at any moment is not larger than the hand torque threshold value, the driving current upper limit is reduced, and the reduced driving current upper limit is smaller than the limiting reference current value. By means of the method, the rotation angle of the steering wheel can be limited within the allowable range of the corner soft limiting function, and various potential safety hazards are effectively avoided.
本发明提供一种转向器、转向器的控制方法及装置。转向器包括电机和力矩输出端,任一时刻输入电机的驱动电流不大于此时的驱动电流上限,力矩输出端用于输出与所述驱动电流的大小呈正相关的助力力矩以驱动车辆的车轮转向,该方法包括:在车辆的方向盘的转动角度不小于限位角度且方向盘朝向增大转动角度的方向转动的情况下,确定驱动所述方向盘转动的手力矩;若任一时刻的手力矩大于手力矩阈值,则将限位基准电流值设置为驱动电流上限;若任一时刻的手力矩不大于手力矩阈值,则降低驱动电流上限,降低后的驱动电流上限小于所述限位基准电流值。该方法能够将方向盘的转动角度限定在转角软限位功能的允许范围内,并有效避免各种安全隐患。
Steering gear and steering gear control method and device
转向器、转向器的控制方法及装置
2024-04-19
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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