The invention discloses a vehicle and a compensation method and device for steering hand torque fluctuation of the vehicle, and relates to the technical field of vehicle control. The steering hand torque fluctuation compensation method comprises the steps that a working condition signal of a vehicle is obtained in real time; the working condition signals comprise a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal and a steering power-assisted motor rotating speed signal; determining high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal; determining a steering hand torque change rate according to the steering hand torque signal; according to the steering hand torque change rate, the vehicle speed signal, the steering power-assisted motor rotating speed signal and the steering hand torque signal, the tremor compensation torque is determined; and determining a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque. According to the method, by determining the high-frequency gain torque and the tremor compensation torque and finally determining the steering hand torque fluctuation compensation value, high-frequency fluctuation in the vehicle steering process is compensated, and the steering process is smoother and more controllable.

    本发明公开了一种车辆及其转向手力矩波动的补偿方法及装置,涉及车辆控制技术领域。该转向手力矩波动的补偿方法包括:实时获取车辆的工况信号;工况信号包括车速信号、转向手力矩信号、方向盘转向角度信号、以及转向助力电机转速信号;根据转向手力矩信号和车速信号,确定高频增益力矩;根据转向手力矩信号,确定转向手力矩变化率;根据转向手力矩变化率、车速信号、转向助力电机转速信号和转向手力矩信号,确定震颤补偿力矩;根据高频增益力矩和震颤补偿力矩,确定转向手力矩波动补偿值。本发明通过确定高频增益力矩、震颤补偿力矩以及最终确定转向手力矩波动补偿值,实现对车辆转向过程中的高频波动进行补偿,使得转向过程更加顺滑可控。


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    Title :

    Vehicle and steering hand torque fluctuation compensation method and device thereof


    Additional title:

    一种车辆及其转向手力矩波动的补偿方法及装置


    Contributors:
    NIU WANFA (author) / LI PENG (author) / WEN SHENGZHUO (author) / WANG XIJIU (author) / TONG YUDONG (author) / HE CHUNYANG (author)

    Publication date :

    2025-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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