The invention relates to the field of vehicle control, in particular to a friction compensation control method and device of an electric power steering system. According to the method provided by the embodiment of the invention, the dynamic steering data of the vehicle in the steering process, the hand torque input by the driver and the steering torque of the motor to the steering column are comprehensively considered, and the friction torque can be comprehensively and accurately calculated. The whole calculation process fully considers the influence of various factors on the friction torque, thereby providing an accurate basis for subsequent compensation, effectively reducing or eliminating the interference on return and damping functions caused by the friction of an EPS motor, a speed reducer and a mechanical system, improving the poor hand feeling caused by the friction hysteresis effect, and improving the reliability of the system. And the overall performance and the driving experience of the EPS are improved. In addition, the system can also adapt to various different driving conditions and road conditions, and can provide optimal power-assisted steering and friction compensation no matter in high-speed driving or low-speed turning.

    本发明涉及车辆控制领域,涉及电动助力转向系统的摩擦补偿控制方法及装置。本申请实施例提供的方法综合考虑车辆在转向过程中的转向动态数据、驾驶员操作输入的手力矩以及电机对转向柱的转向力矩,可以全面、准确地计算出摩擦力矩。整个计算过程充分考虑到各种因素对摩擦力矩的影响,从而为后续的补偿提供准确的依据,有效地减少或消除由于EPS电机、减速器及机械系统摩擦导致的对回正和阻尼功能的干扰,改善因摩擦力迟滞效应导致的差手感,提升EPS的整体性能和驾驶体验。另外,还能够适应各种不同的驾驶条件和路况,无论是高速行驶还是低速转弯,都能提供最优的转向助力和摩擦力补偿。


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    Title :

    Friction compensation control method and device of electric power steering system


    Additional title:

    电动助力转向系统的摩擦补偿控制方法及装置


    Contributors:
    WANG XIAOQING (author) / LIU CHANGPENG (author) / FENG JIE (author) / YE JIANGHAO (author)

    Publication date :

    2024-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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