The invention discloses a steering control method, device and equipment and a readable storage medium, and relates to the technical field of control, and the steering control method comprises the steps that a parameter set of a gear in a steering motor is obtained, and the parameter set comprises a target rotation angle, a current rotation angle, a feed-forward angle, a current rotation speed and a feed-forward rotation speed; according to the target rotation angle, the current rotation angle and the feed-forward angle, the target rotation speed of the gear is obtained through calculation; calculating a torque signal according to the target rotating speed, the current rotating speed and the feedforward rotating speed; and driving the gear according to the torque signal. Therefore, the feed-forward angle is added when the target rotating speed of the gear in the steering motor is calculated, and the feed-forward rotating speed is added when the torque signal is calculated, so that the actual rotating angle of the gear is closer to the target rotating angle of the gear after the gear is driven according to the torque signal; therefore, the response speed and accuracy of automobile steering control are improved.
本申请公开了一种转向控制方法、装置、设备及可读存储介质,涉及控制技术领域,其中一种转向控制方法包括:获取转向电机中齿轮的参数集合,所述参数集合包括目标转动角度、当前转动角度、前馈角度、当前转速和前馈转速;根据所述目标转动角度、所述当前转动角度和所述前馈角度计算得到所述齿轮的目标转速;根据所述目标转速、所述当前转速和所述前馈转速计算得到转矩信号;根据所述转矩信号驱动所述齿轮。可见,本申请由于在计算转向电机中齿轮的目标转速时加入了前馈角度,且计算转矩信号时加入了前馈转速,可以使得在根据转矩信号驱动齿轮后,齿轮的实际转动角度更加接近齿轮的目标转动角度,从而提高汽车转向控制的响应速度和准确度。
Steering control method, device and equipment and readable storage medium
一种转向控制方法、装置、设备及可读存储介质
2024-07-23
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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