The invention discloses an EPS (electric power steering) motor torque limiting method, which is characterized in that level 1 calculation and level 2 calculation are executed, the level 1 calculation comprises level 1 limiting curve calculation, and the level 2 calculation comprises level 2 limiting curve calculation; performing rationality check on values in the calculation process of the level 1 and the calculation process of the level 2; performing cross check on the calculation result of the level 1 and the calculation result of the level 2; the calculation algorithms of the level 1 calculation and the level 2 calculation are different; when the values in the level 1 calculation process and the level 2 calculation process pass the rationality check and the cross check is also passed, the input request motor torque is limited according to the input signal and the level 1 limiting curve; the input signals comprise torsion bar torque, request motor torque, torsion bar torque offset and motor rotating speed; when the value in the calculation process of the level 1 or the level 2 does not pass the rationality check, the EPS system assistance is closed; and when the cross check is not passed, the EPS system assistance is closed. According to the method, the potential risk that when the request torque calculation module breaks down, unexpected assistance or steering system clamping stagnation occurs, the vehicle deviates from a lane or loses a transverse control function, and then serious accidents are possibly caused can be avoided.
本发明公开了一种EPS电机扭矩限制方法,执行level1计算和level2计算,所述level1计算中包括level1限制曲线计算,所述level2计算中包括level2限制曲线计算;对level1计算和level2计算过程中的值进行合理性检查;对level1计算结果和level2计算结果进行交叉检查;所述level1计算和level2计算的计算算法不同;当level1计算和level2计算过程中的值通过合理性检查,且交叉检查也通过时,根据输入信号及level1限制曲线对输入的请求电机扭矩进行限制;所述输入信号包括扭杆扭矩、请求电机扭矩、扭杆扭矩偏移和电机转速;当level1计算或level2计算过程中的值未通过合理性检查时,关闭EPS系统助力;当交叉检查未通过时,关闭EPS系统助力。本发明能够避免当请求扭矩计算模块发生故障的时候,出现非预期的助力或者转向系统卡滞,导致车辆偏离车道或者失去横向控制功能,进而可能导致严重的事故发生的潜在风险。
EPS motor torque limiting method, steering system, readable storage medium and vehicle
EPS电机扭矩限制方法、转向系统、可读存储介质和车辆
2024-11-22
Patent
Electronic Resource
Chinese
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