The invention provides a steering system rack force estimation method. The method comprehensively considers the influence of a vehicle dynamics model, a PT1 dynamic transfer function, a tire steering angle and a parking working condition, and realizes estimation of the rack force through the following steps: firstly, calculating the lateral force of a front axle according to a two-degree-of-freedom vehicle dynamics model; secondly, converting a lateral force into a rack force by utilizing a PT1 dynamic transfer function, and dynamically adjusting the transfer function in combination with the change of the vehicle speed and the steering angle; and finally, correcting the calculated rack force through the change of the steering angle of the tire and the parking working condition so as to reflect the actual control behavior. According to the method, estimation of the rack force can be provided under various working conditions, so that the response speed and precision of the electric power steering system are improved, and better control experience is provided for a driver.
本发明提供了一种转向系统齿条力估算方法。该方法综合考虑了车辆动力学模型、PT1动态传递函数、轮胎转向角和停车工况的影响,通过以下步骤实现对齿条力的估算:首先,根据二自由度汽车动力学模型计算前轴的侧向力;其次,利用PT1动态传递函数将侧向力转化为齿条力,并结合车辆速度和转向角度的变化对传递函数进行动态调整;最后,通过轮胎转向角的变化和停车工况修正计算出的齿条力,以反映实际的操纵行为。该方法能够在各种工况下提供对齿条力的估算,从而提高电动助力转向系统的响应速度和精度,为驾驶员提供更佳的操控体验。
Steering system rack force estimation method
转向系统齿条力估算方法
2025-04-25
Patent
Electronic Resource
Chinese
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