Apparatus and method for producing a controller
A method is for manufacturing a controller for a control section including a rack of a steering system of a vehicle. The method includes providing measurements characterizing an actual behavior of the control section at different operating points, and specifying a target behavior of the rack. The method also includes determining functions modeling a deviation of the actual behavior from the target behavior at a respective operating point for each one of the different operating points depending on the measurements. At least one parameter of the controller affects an actual transmission behavior of the control section. The at least one parameter includes a proportional gain factor, an integral gain factor, and/or a differential gain factor of the controller, and is determined depending on the deviations determined for the different operating points, such that the control section has a specified target transmission behavior.
1 . A method for parameterizing a controller for a control section of a steering system of a vehicle, the method comprising:
providing measurements characterizing an actual behavior of the control section at different operating points;
providing a target behavior of the control section at the different operating points; and
determining functions modeling a deviation of the actual behavior from the target behavior at a respective operating point of the different operating points based on a corresponding measurement of the measurements for at least one operating point of the different operating points,
wherein at least one parameter of the controller affects an actual transmission behavior of the control section,
wherein the at least one parameter includes a proportional gain factor, an integral gain factor, or a differential gain factor of the controller,
wherein the controller is parameterized based on the functions, such that the at least one parameter has a value based on the deviation at the respective operating point, and
wherein the control section has a specified target transmission behavior when controlled by the parameterized controller that results in the actual transmission behavior consistently following the specified target transmission behavior.
2 . The method according to claim 1 , further comprising:
determining a value depending on the deviation and characterizing a maximum deviation of the deviation from the target behavior; and
determining the at least one parameter for minimizing the value and/or a difference between the specified target transmission behavior and the actual transmission behavior.
3 . The method according to claim 1 , further comprising:
specifying a model of the control section to be controlled using the controller,
wherein the control section includes a rack of the steering system,
wherein the functions each comprise the model and a part for modeling a variation of the control section, and
wherein at least one of the part for modeling the variation of the control section is approximated depending on at least one of the measurements.
4 . The method according to claim 1 , wherein;
the control section includes a rack of the steering system, and
the actual behavior is determined depending on a rotor position of a rotor of a motor for displacing the rack.
5 . The method according to claim 1 , wherein the actual behavior is controlled by the controller based on the at least one parameter.
6 . An apparatus for parameterizing a controller for a control section of a steering system of a vehicle, the apparatus comprising:
a processor configured to:
receive measurements characterizing an actual behavior of the control section at different operating points;
receive a target behavior of the control section at the different operating points,
determine functions modeling a deviation of the actual behavior from the target behavior at a respective operating point of the different operating points based on a corresponding measurement of the measurements for at least one operating point of the different operating points,
determine at least one parameter of the controller affecting an actual transmission behavior of the control section, the at least one parameter including a proportional gain factor, an integral gain factor, and/or a differential gain factor of the controller, and the at least one parameter determined depending on the deviation at the respective operating point, and
parametrize the controller based on the at least one parameter, such that the control section has a specified target transmission behavior when controlled by the parameterized controller that results in the actual transmission behavior consistently following the specified target transmission behavior.
7 . The apparatus according to claim 6 , wherein the apparatus is configured to determine a value characterizing a maximum deviation of the deviation from the target behavior, depending on the deviation, and to determine the at least one parameter minimizing the value and/or a difference between the specified target transmission behavior and the actual transmission behavior.
8 . The apparatus according to claim 6 , wherein:
the apparatus is configured to specify a model of a control section to be controlled using the controller, the control section including a rack of the steering system, and
the functions each comprise the model and a part for modeling a variation of the control section, and approximate the part for modeling the variation of the control section depending on at least one of the measurements.
9 . The apparatus according to claim 6 , wherein:
the controller is configured to control a deviation between the target behavior and the actual behavior, and
the controller is configured to determine the actual behavior depending on a rotor position of a rotor of a motor configured to displace a rack of the steering system.
10 . A vehicle comprising the controller and the apparatus according to claim 6 .