CN-122009325-A - Method and system for calculating steering angle information of steer-by-wire steering wheel

CN122009325ACN 122009325 ACN122009325 ACN 122009325ACN-122009325-A

Abstract

The embodiment of the invention provides a method and a system for calculating steering angle information of a steering-by-wire steering wheel, belonging to the technical field of steering-by-wire. The calculating method comprises the steps of obtaining a voltage value currently output by a detection sensor, calculating a current angle value according to the voltage value, calculating an actual multi-turn angle of a steering wheel according to the range of the current angle value after the current angle value is obtained, obtaining a speed value in a current period according to the obtained actual multi-turn angle and the steering wheel angle value after a preset time period, obtaining the change of the steering wheel angle according to the obtained actual multi-turn angle and the latest steering wheel angle, and judging the rotation direction of the steering wheel according to the change of the steering wheel angle. The calculation method can provide a reliable and quick-response calculation method for multi-turn rotation angle calculation, rotation rate calculation and rotation direction judgment.

Inventors

ZHAO FEI
YANG YONG
XING LINGLING
CHEN ZENG
CHANG FANGPO
WU CHUANYANG
Zhu Jinqun

Assignees

安徽合力股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260311

Claims (10)

1. A method for calculating steering-by-wire steering wheel angle information, the method comprising: acquiring a voltage value currently output by a detection sensor, and calculating a current angle value according to the voltage value; after the current angle value is obtained, calculating to obtain the actual multi-turn angle of the steering wheel according to the range of the current angle value; Acquiring a speed value in a current period according to the acquired actual multi-turn angle and the steering wheel angle value after a preset time period; And obtaining the change of the steering wheel angle according to the obtained actual multi-turn angle and the latest steering wheel angle, and judging the rotation direction of the steering wheel according to the change of the steering wheel angle.
2. The calculation method according to claim 1, wherein after the current angle value is obtained, calculating an actual multi-turn angle of the steering wheel according to the range of the current angle value includes: Initializing a program, namely setting the current rotation number to be zero; Judging whether the current angle value is in a section of a first preset threshold value and a second preset threshold value according to the acquired current angle value, wherein the first preset threshold value is larger than the second preset threshold value; When the current angle value is larger than a first preset threshold value and the duration exceeds a first preset time, the large-angle gear position is set to be 1; under the condition that the current angle value is smaller than a second preset threshold value and the duration exceeds a first preset time, the small angle gear position is set to be 1; Under the condition that the current angle value is between a first preset threshold value and a second preset threshold value and the duration exceeds a first preset time, the large-angle gear position and the small-angle gear position are set to be 0; And calculating the actual multi-turn angle of the steering wheel according to the acquired information of the large-angle gear and the small-angle gear.
3. The calculation method according to claim 2, wherein calculating the actual multiturn angle of the steering wheel based on the obtained information of the large angle gear and the small angle gear includes: Acquiring information of a large-angle gear and a small-angle gear, and acquiring a current angle value; increasing the number of revolutions by 1 while zeroing the large-angle gear when the large-angle gear is 1 and the current angle value is smaller than a third preset threshold value, wherein the third preset threshold value is smaller than the second preset threshold value; under the condition that the small-angle gear is 1 and the current angle value is larger than a fourth preset threshold value, reducing the number of turns by 1, and simultaneously zeroing the small-angle gear, wherein the fourth preset threshold value is larger than the first preset threshold value; According to the acquired rotation number and angle value, calculating the actual multi-turn angle of the steering wheel through a formula (1): Formula (1), Wherein, the Indicating the actual number of turns of the angle, The value of the angle is indicated and, Indicating the number of revolutions.
4. The calculation method according to claim 1, wherein obtaining a velocity value in a current period from the obtained actual multi-turn angle and a steering wheel angle value after an elapsed time period, comprises: Acquiring an actual multi-turn angle, and recording the actual multi-turn angle as an old angle value; acquiring the current actual multi-turn angle after a preset time period; according to the obtained current actual multi-turn angle and old angle value, calculating the rate value of the period through a formula (2): formula (2), Wherein, the The value of this Zhou Qisu is represented as a value, Representing the value of the old angle and, Representing the current actual multi-turn angle, Representing a time period.
5. The calculation method according to claim 4, wherein obtaining the velocity value in the current period from the obtained actual multi-turn angle and the steering wheel angle value after the elapsed time period includes: acquiring a current cycle rate value and an upper cycle rate value; Updating the periodic speed value to be the sum of the upper periodic speed value and the preset amplitude under the condition that the amplitude of the periodic speed value is larger than the upper periodic speed value and exceeds the preset amplitude so as to obtain the steering speed after amplitude limiting; under the condition that the amplitude of the Zhou Qisu value smaller than the upper period speed value exceeds the preset amplitude, updating the period speed value into the difference between the upper period speed value and the preset amplitude to obtain the steering speed after amplitude limiting; According to the obtained steering rate after clipping, performing exponential smoothing processing by a formula (3): Formula (3), Wherein, the Indicating the steering rate after the exponential smoothing process, i.e. the final current period rate value, The index parameter is represented by a value of the index, Representing the upper cycle rate value.
6. The calculation method according to claim 1, wherein calculating a change in the steering wheel angle from the acquired actual multi-turn angle and the latest steering wheel angle, and determining the turning direction of the steering wheel from the change in the steering wheel angle, comprises: Acquiring an actual multi-circle angle, and updating the actual multi-circle angle into a first old cycle angle and a second old cycle angle; after delaying the first period, judging the change of the angle according to the latest steering wheel angle and the first old period angle; after delaying the second period, judging the change of the angle according to the latest steering wheel angle and the second old period angle; and determining the steering direction of the steering wheel according to the change condition of the angle.
7. The method of calculating according to claim 6, wherein determining the change in angle after delaying the first period based on the latest steering wheel angle and the magnitude of the first old period angle comprises: When the latest steering wheel angle is larger than the first old cycle angle and the amplitude of the latest steering wheel angle is larger than a first preset amplitude, indicating that the steering wheel is rotating forward, and adding 1 to the first count value; when the first old period angle is larger than the latest steering wheel angle and the amplitude of the first old period angle is larger than the first preset amplitude, indicating inversion, and adding 1 to the second count value; in case the difference between the latest steering wheel angle and the first old cycle angle is within a first preset magnitude, indicating that the steering wheel is not rotating, adding 1 to the third count value.
8. The method of calculating according to claim 7, wherein determining the change in angle after delaying the second period based on the magnitude of the latest steering wheel angle and the second old period angle comprises: acquiring the latest steering wheel angle after the second time delay period; When the latest steering wheel angle is larger than the second old period angle by a magnitude larger than a second preset magnitude, indicating that the steering wheel rotates positively, and adding 1 to a fourth count value; And when the second old period angle is larger than the latest steering wheel angle by more than a second preset amplitude, indicating that the steering wheel is reversed, and adding 1 to the fifth count value.
9. The computing method of claim 8, wherein determining the steering of the steering wheel based on the change in angle comprises: Acquiring accumulated values of a first count value, a second count value, a third count value, a fourth count value and a fifth count value; determining that the steering wheel is rotating forward when the accumulated value of the first count value is greater than the first threshold value or the accumulated value of the fourth count value is greater than the second threshold value; determining that the steering wheel is inverted when the accumulated value of the second count value is greater than the first threshold value or the accumulated value of the fifth count value is greater than the second threshold value; And determining that the steering wheel stops rotating when the accumulated value of the third calculated value is greater than a third threshold value.
10. A steer-by-wire steering wheel angle information computing system, the computing system comprising: The detection sensor is used for outputting voltage information according to the rotation of the steering wheel; a calculation module for performing a steer-by-wire steering wheel angle information calculation method according to any one of claims 1 to 9 based on the output voltage information.

Description

Method and system for calculating steering angle information of steer-by-wire steering wheel Technical Field The invention relates to the technical field of steer-by-wire, in particular to a method and a system for calculating steering angle information of a steering wheel of the steer-by-wire. Background In an industrial vehicle steer-by-wire system in which a driver controls a vehicle steering through an electronic steering wheel, including controlling an angle of the steering, a speed of the steering, a direction of the steering (left and right turns), a steering force feedback device (TFD) is employed. The general output signal of the sensor is a corner signal of 0-360 degrees, and the steering controller can accurately and reliably control the steering action on the premise that the corresponding corner, rotation speed and rotation direction of the steering wheel can be calculated according to the corner position signal of the steering wheel angle sensor, and then the steering angle, speed and direction of the steering can be controlled according to the information. Therefore, how to calculate the rotation angle, the rotation rate and the rotation direction corresponding to the multi-turn rotation according to the rotation angle signal of the steering wheel is an important problem to be solved by the steer-by-wire control. Disclosure of Invention The embodiment of the invention aims to provide a method and a system for calculating steering angle information of a steering wheel by wire, which can provide a reliable and quick-response calculation method for calculating a plurality of turns of angles, calculating a rotation rate and judging a rotation direction. In order to achieve the above object, an embodiment of the present invention provides a method for calculating steering angle information of a steer-by-wire steering wheel, the method comprising: acquiring a voltage value currently output by a detection sensor, and calculating a current angle value according to the voltage value; after the current angle value is obtained, calculating to obtain the actual multi-turn angle of the steering wheel according to the range of the current angle value; Acquiring a speed value in a current period according to the acquired actual multi-turn angle and the steering wheel angle value after a preset time period; And obtaining the change of the steering wheel angle according to the obtained actual multi-turn angle and the latest steering wheel angle, and judging the rotation direction of the steering wheel according to the change of the steering wheel angle. Optionally, after the current angle value is obtained, calculating an actual multi-turn angle of the steering wheel according to the range of the current angle value, including: Initializing a program, namely setting the current rotation number to be zero; Judging whether the current angle value is in a section of a first preset threshold value and a second preset threshold value according to the acquired current angle value, wherein the first preset threshold value is larger than the second preset threshold value; When the current angle value is larger than a first preset threshold value and the duration exceeds a first preset time, the large-angle gear position is set to be 1; under the condition that the current angle value is smaller than a second preset threshold value and the duration exceeds a first preset time, the small angle gear position is set to be 1; Under the condition that the current angle value is between a first preset threshold value and a second preset threshold value and the duration exceeds a first preset time, the large-angle gear position and the small-angle gear position are set to be 0; And calculating the actual multi-turn angle of the steering wheel according to the acquired information of the large-angle gear and the small-angle gear. Optionally, calculating the actual multi-turn angle of the steering wheel according to the acquired information of the large-angle gear and the small-angle gear includes: Acquiring information of a large-angle gear and a small-angle gear, and acquiring a current angle value; increasing the number of revolutions by 1 while zeroing the large-angle gear when the large-angle gear is 1 and the current angle value is smaller than a third preset threshold value, wherein the third preset threshold value is smaller than the second preset threshold value; under the condition that the small-angle gear is 1 and the current angle value is larger than a fourth preset threshold value, reducing the number of turns by 1, and simultaneously zeroing the small-angle gear, wherein the fourth preset threshold value is larger than the first preset threshold value; According to the acquired rotation number and angle value, calculating the actual multi-turn angle of the steering wheel through a formula (1): Formula (1), Wherein, the Indicating the actual number of turns of the angle,The value of the angle is indicated and,In