The invention provides a steer-by-wire cooperative control method, a steering system and a vehicle, which are applied to the technical field of steering control, and the control method comprises the following steps: obtaining a steering wheel hand torque, a steering wheel current angle position and a whole vehicle driving parameter; the target steering torque of a steering motor is calculated by taking the steering wheel hand torque as basic input and combining with the whole vehicle driving parameters; controlling a steering motor to act by using the target steering torque and outputting a response steering torque; acquiring a real-time rotor angle position of the steering motor and converting the real-time rotor angle position into a theoretical angle position of the steering wheel; according to the control method, the theoretical angle position of the steering wheel serves as a control target to control a road sensing motor to act and output response feedback torque, and the current angle position of the steering wheel is corrected so as to achieve global closed-loop control over vehicle steering. The steering system and the vehicle have the advantages of being stable and reliable in the power-assisted steering process.
本申请提供一种线控转向协同控制方法、转向系统和车辆,应用于转向控制技术领域,该控制方法包括如下步骤:获取转向盘手力矩、转向盘当前角度位置和整车驾驶参数;以转向盘手力矩为基本输入结合整车驾驶参数计算转向电机的目标转向力矩;利用目标转向力矩控制转向电机作动并输出响应转向力矩;获取转向电机实时的转子角度位置并换算成转向盘理论角度位置;以转向盘理论角度位置作为控制目标控制路感电机作动并输出响应反馈力矩,对所述转向盘当前角度位置进行修正以实现对于车辆转向的全局闭环控制,采用该控制方法能够消除转向执行机构与转向盘输入轴之间的相位差,该转向系统和车辆具有转向助力过程平稳、可靠的优点。
Steer-by-wire cooperative control method, steering system and vehicle
一种线控转向协同控制方法、转向系统和车辆
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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