The invention relates to a method for determining a controller steering torque specified for a steering actuator. The controller steering torque is determined by means of a double controller, which comprises an outer controller and an inner controller connected downstream of the outer controller. A steering angle adjusted by a steering actuator in the motor vehicle is supplied to the outer controller as a control variable. The outer regulator outputs a target value of a time derivative of the steering angle as an execution variable. A pre-control model steering torque is provided to an inner regulator for calculating an execution variable, the regulator steering torque being determined in real time as a function of the physical behavior of the steering actuator. The physical state of the steering device is modeled by having an external stimulus. The time-dependent steering angle is a free parameter. At least one further spring damper model parameter is taken into account for describing the spring damper. At least one time-dependent spring damper model parameter is estimated by means of a recursive fitting calculation, from which the pre-control model steering torque is calculated.
本发明涉及一种求取对转向促动器预给定的调节器转向力矩的方法。借助双重调节器求取调节器转向力矩,双重调节器包括外调节器和连接在外调节器之后的内调节器。向外调节器供应由在机动车中的转向促动器调整的转向角作为调节参量。外调节器输出转向角的时间导数的目标值作为执行参量。向内调节器提供预控制模型转向力矩,用于计算执行参量,所述调节器转向力矩根据所述转向促动器物理行为实时确定。转向装置的物理状态通过具有外部激励建模。在此,时间相关的转向角是自由参数。考虑至少一个另外的弹簧阻尼器模型参数,用于描述弹簧阻尼器。至少一个时间相关的弹簧阻尼器模型参数借助递归拟合计算进行估计,从该估计中计算所述预控制模型转向力矩。
Method for determining controller steering torque predefined for steering actuator of motor vehicle
用于求取对机动车的转向促动器预给定的调节器转向力矩的方法
2025-02-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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