Average friction learning and average friction change estimation

摘要

A learning function is configured to determine a plurality of piecewise linear function coefficients based on measured data for an electric power-assisted steering (EPS) system. The measured data include a vehicle speed. The learning function is further configured to model a hysteresis loop of the EPS system using a piecewise linear function based on the plurality of piecewise linear function coefficients to determine an average friction. An average friction change compensator is configured to adjust friction-based EPS system compensation based on the average friction for a plurality of vehicle speed intervals of the vehicle speed.

主权项

1. A system comprising:
an electric power assisted steering (EPS) system for a vehicle; and a control module that controls a steering actuator motor of the EPS system, the control module comprising a processor that executes: a learning function configured to determine a plurality of piecewise linear function coefficients based on measured data for the EPS system, the piecewise linear function coefficients determined in real-time while the EPS system is in operation, the measured data comprising a vehicle speed, the learning function further configured to model a hysteresis loop of the EPS system using a piecewise linear function based on the plurality of piecewise linear function coefficients to determine an average friction; and an average friction change compensator configured to adjust friction-based EPS system compensation based on the average friction, wherein an interested vehicle speed range is divided into a plurality of vehicle speed intervals and the average friction is determined separately for each of the vehicle speed intervals.