The embodiment of the invention provides a friction torque compensation method and device, a storage medium and electronic equipment, and the method comprises the steps: obtaining the expected friction torque of a steering system of a target vehicle, and obtaining the real-time friction torque of the steering system; performing first filtering processing on the real-time friction torque, and estimating a short-time friction torque of the steering system and a long-time friction torque of the steering system according to the real-time friction torque before filtering and the real-time friction torque after filtering; according to the long-time friction torque, the short-time friction torque and the expected friction torque, the friction torque to be compensated is determined, and the friction torque of the steering system is compensated according to the friction torque to be compensated. By means of the friction torque compensation method and device, the technical problem that according to a friction torque compensation method in the related technology, the accuracy of friction torque compensation is low is solved.
本发明实施例提供了一种摩擦力矩补偿方法和装置、存储介质及电子设备,其中,该方法包括:获取目标车辆的转向系统的预期摩擦力矩,以及获取转向系统的实时摩擦力矩;对实时摩擦力矩进行第一滤波处理,并根据滤波前的实时摩擦力矩和滤波后的实时摩擦力矩对转向系统的短时摩擦力矩和转向系统的长时摩擦力矩进行估计;根据长时摩擦力矩、短时摩擦力矩和预期摩擦力矩,确定待补偿摩擦力矩,并按照待补偿摩擦力矩对转向系统的摩擦力矩进行补偿。通过本发明,解决了相关技术中的摩擦力矩补偿方法,存在摩擦力矩补偿的准确性较低的技术问题。
Friction torque compensation method and device, storage medium and electronic equipment
摩擦力矩补偿方法和装置、存储介质及电子设备
2024-09-27
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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