The embodiment of the invention provides a steering fluctuation compensation method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control. According to the method, the compensation gain is calculated according to the steering wheel rotating speed collected in real time, the steering wheel torque is reversely compensated based on the sixth harmonic and the twelfth harmonic in the steering wheel rotating speed, the compensation intensity is dynamically adjusted through the compensation gain, the motor can rapidly respond to the change of the steering wheel rotating speed, and the compensation harmonic is adjusted in time. The torque fluctuation caused by motor control and cogging torque is counteracted by adding reverse harmonic waves into the torque of the steering wheel, so that unnecessary vibration and impact are reduced, the steering wheel rotates more smoothly, the hand feeling of the steering wheel is optimized, the control experience of a driver is remarkably improved, and the driving stability and safety are guaranteed.

    本发明实施例提出一种转向波动补偿方法、装置、车辆、存储介质和程序产品,涉及车辆控制技术领域。该方法根据实时采集的方向盘转速计算补偿增益,基于方向盘转速中的6次谐波和12次谐波反向补偿方向盘扭矩,并通过补偿增益动态调整补偿强度,能够使电机快速响应方向盘转速的变化,及时调整补偿谐波。通过向方向盘扭矩中加入反向谐波的方式,抵消由于电机控制以及齿槽转矩引起的扭矩波动,从而减少不必要的振动和冲击,使得方向盘转动更加顺滑,优化方向盘手感,显著提升驾驶员的操控体验,保证驾驶的稳定性和安全性。


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    Title :

    Steering fluctuation compensation method and device, vehicle, storage medium and program product


    Additional title:

    转向波动补偿方法、装置、车辆、存储介质和程序产品


    Contributors:
    SHU QIANG (author) / DENG NIAN (author) / QU GUANGWEI (author) / ZHANG LEI (author) / XU GUANGJI (author) / WU JINGKAI (author) / SHEN BAOCHUAN (author) / LU WANGWANG (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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