The invention provides a steering angle control method and system for a magnetic lead screw integrated steer-by-wire system, and the method comprises the steps: obtaining real-time operation data and a reference steering angle of the magnetic lead screw integrated steer-by-wire system, and carrying out the filtering processing of the operation data, the real-time operation data comprises a real-time steering angle and a real-time steering angular velocity of a steering wheel, a real-time magnetic thrust of a magnetic lead screw, and a real-time rotating speed and a real-time torque of a driving motor; calculating the reference torque of a driving motor according to the filtered real-time steering angle and real-time steering angular velocity of the steering wheel, the real-time magnetic thrust of a magnetic lead screw, the real-time rotating speed and real-time torque of the driving motor and the reference steering angle; and controlling the steering angle of the magnetic lead screw integrated steer-by-wire system based on the reference torque of the driving motor. According to the technical scheme, disturbance is estimated in real time and compensated in real time, the robustness of the magnetic lead screw integrated steer-by-wire system is greatly improved, the universality is high, and the control precision is high.
本申请提出磁力丝杠集成式线控转向系统的转向角控制方法及系统,所述方法包括:获取磁力丝杠集成式线控转向系统的实时运行数据和参考转向角,并对所述运行数据进行滤波处理,其中,所述实时运行数据包括:转向轮实时转向角和实时转向角速度、磁力丝杠的实时磁推力、驱动电机的实时转速和实时转矩;根据滤波后的所述转向轮实时转向角和实时转向角速度、磁力丝杠的实时磁推力、驱动电机的实时转速和实时转矩、所述参考转向角计算所述驱动电机的参考转矩;基于驱动电机的参考转矩对所述磁力丝杠集成式线控转向系统的转向角进行控制。本技术方案,实时估计扰动并实时补偿,大幅提升了磁力丝杠集成式线控转向系统的鲁棒性,通用性强且控制精度较高。
Steering angle control method and system of magnetic lead screw integrated steer-by-wire system
磁力丝杠集成式线控转向系统的转向角控制方法及系统
2024-01-26
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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