EPS系统转角误差与补偿算法的研究  

Research on EPS System Angle Error and Compensation Algorithm

作　　者：朱斌[1,2] 朱元 Zhu Bin;Zhu Yuan(Tongji University,Shanghai 201804,China;ZF Automotive Co.Ltd.,Shanghai 201805,China)

机构地区：[1]同济大学,上海201804 [2]采埃孚汽车科技有限公司,上海201805

出　　处：《内燃机与配件》2022年第21期26-28,共3页Internal Combustion Engine & Parts

摘　　要：EPS系统的转角信号的准确性是转向系统有效运行的保障,对车辆的操纵稳定性和自动驾驶技术的开发具有重要影响。针对EPS系统的转角误差,从电子误差和机械误差两个来源进行了分析,讨论了误差的影响因素及计算方法,并对总的系统转角误差进行了计算和分析,为EPS系统的设计开发提供支持。基于车辆阿克曼转向几何和不同轮速间的关系的分析,提出了一种基于轮速的前轮转角估算方法,可以对EPS系统提供的转角信号进行误差补偿,基于实车采集数据进行验证,该补偿算法可以提高EPS系统转角信号的准确性。The steering angle accuracy of EPS system is critical for the proper performance of the steering system, which has a significant impact on the vehicle handling stability and the advancement of autonomous driving technology. The steering angle error of EPS system is analyzed from two perspectives: electronic error and mechanical error. The influencing factors and error calculation method are discussed, and the total steering angle error is calculated and analyzed to guide the design and development of EPS system. Based on the analysis of the relationship between Ackermann steering geometry and various road wheel speeds, a road wheel speed based front wheel steering angle estimation algorithm is proposed, which can compensate for EPS errors in providing a steering angle signal, and validation using real vehicle data demonstrates that the compensation algorithm can improve the accuracy of the EPS system steering angle signal.

关 键 词：电动助力转向系统 转角误差 转角误差补偿算法 

分 类 号：U463.4[机械工程—车辆工程]