基于EPS系统传感器角度信号的游标算法研究  

Research of Vernier Algorithm Based on Sensor Angle Signal in EPS System

作　　者：宋昌平[1] 侯训波 孔飞 李峰 郭力铭 SONG Chang-ping;HOU Xun-bo;KONG Fei;LI Feng;GUO Li-ming(Dalian Vocational lechnical College,Dalian 116037,China;Dalian Innovation Parts Manufacturing Company,Dalian 116620,China;Jiangxi ISUZU Motors Co.,Ltd.Nanchang 330103,China;Foshan Factory Beiqi Foton Motor Co.,Ltd.Foshan 528137,China)

机构地区：[1]大连职业技术学院,大连116037 [2]大连创新零部件制造公司,大连116620 [3]江西五十铃汽车有限公司,南昌330103 [4]北汽福田汽车股份有限公司佛山汽车厂,佛山528137

出　　处：《汽车科技》2021年第6期61-67,共7页Auto Sci-Tech

摘　　要：EPS系统传感器输出的角度信号为PWM形式,可被ECU采样识别,按基本算法来测量角度,将耗费大量ECU运算资源,影响运算效率。针对传感器所输出的角度信号开展研究,经分析信号特性、角差规律等,总结角度测量的游标算法和游标可信度的评价方法,其优势较为明显。以仿真验证方式,发现当方向盘角速度较高时,游标算法所测量角度结果不可信,甚至错误。据此,提出附加角速度判断条件,确定游标算法所测量角度结果是否有效,为另一种跟随算法提供正确且有效的角度基准。The angle signal output by the sensor of EPS system is in the PWM form,which can be sampled and identified by ECU.To measure the angle according to the basic algorithm will consume a lot of ECU computing resources and affect the computing efficiency.The angle signal output by the sensor is studied.By analyzing the signal characteristics and the law of angle difference,the vernier algorithm of angle measurement and the evaluation method of the vernier reserve are summarized,which have obvious advantages.It is found that when the steering wheel angular velocity is high,the angle measured by the vernier algorithm is not credible,or even wrong.On this basis,additional angular velocity judgment conditions are proposed to determine whether the angle measured by the vernier algorithm is valid or not,and to provide a correct and effective angle reference for another following algorithm.

关 键 词：EPS系统 角度传感器 角度测量 游标算法 游标可信度 角速度 

分 类 号：U463.4[机械工程—车辆工程]