The invention discloses a steering controller calibration method based on a nonlinear response model, and the method comprises the steps: building a nonlinear response model used for achieving the instruction response of a steering controller through the steering data in a vehicle steering interval, and building a corresponding inverse model according to the nonlinear response model, and compensating the issued turning angle instruction through an inverse model of the nonlinear response model, so as to eliminate the response deviation of the steering controller. Comprising the following steps that a vehicle turning angle instruction is obtained, and an expected wheel turning angle instruction is obtained through calculation according to the vehicle turning angle instruction; non-linear compensation is conducted on the expected wheel rotation angle instruction, and a compensated wheel rotation angle instruction is obtained; a wheel steering angle compensation instruction is issued, the steering controller responds to the wheel steering angle compensation instruction through a nonlinear response model, and a feedback state value of the steering controller is output; and performing nonlinear compensation on the feedback state value of the steering controller to complete calibration of the steering controller.
本发明公开了一种基于非线性响应模型的转向控制器标定方法,利用车辆转向区间内的转向数据建立用于实现转向控制器指令响应的非线性响应模型,然后依据非线性响应模型构建对应的逆模型,通过非线性响应模型的逆模型对下发的转角指令进行补偿,从而消除转向控制器的响应偏差。包括以下步骤:获取车辆转角指令,根据车辆转角指令计算得到期望车轮转角指令;对期望车轮转角指令进行非线性补偿,获取补偿车轮转角指令;下发补偿车轮转角指令,转向控制器通过非线性响应模型对补偿车轮转指令进行响应,输出转向控制器反馈状态值;对转向控制器反馈状态值进行非线性补偿,完成转向控制器标定。
Steering controller calibration method based on nonlinear response model
一种基于非线性响应模型的转向控制器标定方法
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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